Home

CDHD

Contents

1. 33 2 52 CDHD 3 3 3 PE PE CDHD EMI
2. e 10 3 3 5 CE
3. 1 0 3 3 6 3 3 7 0 0 EMI 200mm 90 360
4. 5 7 3 ServoStudio S ServoStudio ServoStudio
5. EMI
6. CDHD OPMODE 1 OPMODE 3 o 5 10 2 RERE BAREA o Limits Current Limit Velocity Limit Position Limit Maximum Value 240 000 Motor Max Speed 2 4500 000 rpm Minimum Max Velocity User Velocity Limit 2250 000 rpm 5 23 ServoStudio VarCom MSPEED 1 CONFIG VarCom VMAX DESIT Et CDHD VMAX
7. 237 302 w 12 I CDHD u T xh 238 UVMODE 1 2 UVTHRESH RIE f UVMODE 3 UVTHRESH CDHD JJ VZ I 239 CDHD 8 8 1 8 2 240 ServoStudio amp
8. HD 100Hz 2 s L 13 22 S HR Y Parameter VarCom Default Range Unit HD Anti Vibration Filter NLANTIVIBHZ HD 500 0 to 500 Hz HD PE Filter NLANTIVIBHZ2 HD HD Anti Resonance Sharpness NLANTIVIBSHARP HD NLANTIVIBSHARP2 0 5 0 01 to 10 HD PE Sharpness HD HD Anti Vibration Gain NLANTIVIBGAIN HD 0 0 to 10000 HD PE Filter Gain NLANTIVIBGAIN2 HD fr Ex EI FE Sa HD Global Gain KNLUSERGAIN 1 000 0 001 3 000 Els 292 CDHD Position TN Current
9. 141 JJ s Ho E CDHD 5 13 142 on e Ctrl Enter Send All MO LED VarCom OUT OUTPUTS 1 Active 2 Brake 3 Aam 4 n Position 5 Stopped 6 Faldback 9 Velocity Level 10 Velocity Range 11 Position Level 12 Position Range 13 Battery Low V Waming 15 Battery Low V Fault
10. 293 CDHD HD Anti Vibration Filter frequency HD HD Anti Resonance Sharpness HD HD Anti Vibration Gain HD HD Global Gain HD Parameter HD PE Filter frequency HD HD PE Sharpness HD HD Anti Vibration Gain HD 37 30 81385 25 HD Global Gain HD NLANTIVIBHZ NLANTIVIBSHARP NLANTIVIBGAIN KNLUSERGAIN VarCom NLANTIVIBHZ2 NLANTIVIBSHARP2 NLANTIVIBGAIN2 KNLUSERGAIN 0 to 500 0 01 10 0 10000 0 001 3 000 Range Autotuning Value Manual Value 0 to 500 0 01 10 0 10000 0 001 3 000 294 CDHD Wizards Setup Wizard Wizards Setup Wizard Tuning Wizard Y ANTI VIBE 1 Set Narrow Band Center Frequency NLANTIVIBHZ Set Narrow Band Center Width NLANTIVIBSHARP Tune Increase
11. Users owner Documents ServoStudio Description Command Name VarCom Min Max Value CANopen Index CANopen s Milliseconds 0 1 Unit Value 52 000 000 Send Command Sep 5 x Down Step Auto Increment Initial Value 52000 000 Initial Value 5 4 lt gt Value Step Down Step Initial Value Send Command Move Record Plot Auto Increment Advanced
12. 3 4 3 4 1 e US RK5 CC T 600VAC 200 kA UL FA CSA UR EU gRL gL 400 V 500 V 55 CDHD RAAE IEC 60529 e Bussmann CH 0 3 CH30J3 Ferraz 0 30A J 3 US3J3I 3 4 2 PE 50 Hz
13. Clear Chart Chart Properties Show All Hidden Traces 3 Reference Previous Set k PCMD 0 1 Set Trace Offsets m Hide Trace Hide Show Trace Trace Properties Add Manipulated Trace FFT and derivative 4 set Trace Color m Reset Variable List File k mom Set Trace Line Type MN CR NUNC Scale Left Y Axis By Trace Show Rise Time Scale Right Y Axis By Trace Show Overshoot 6 33 ServoStudio 190 CDHD Y X X Y Y Y Y
14. 100rpm V 1 100rpm Operation Mode 1 Analog Velocity Signa Analog Offset Deadband Filter Analog Input Velocity Scaling felocity Command 004 EE ooo Actual Values Velocity 0 000 rpm on 30 000 Counts Motor Current 0 015 5 32 CDHD JJ Analog l Os Analog Input 1 Analog Offset Deadband Filter Signal Setto Zero Analog Output Analog Input 2 Analog Output Mode 0 User command Anin 2 Mode 2 Current limit mode Analog Output Value 0 000 Analog Input 2 Filter 1000 Hz Analog Output Command 0 000 Analog Input 2 Offset 0 000 V Analog Output Current Scaling 4051014 256 Analog Input 2 Deadband 0 000 V Analog Output Voltage Limit 10 000 V Analog Input 2 Value 0 V Analog Output Velocity Scaling 0 000 rpm V 5 33 4 ANIN2ISCALE ANIN2ISCALE 0 5A V Ter
15. IF A CW B CCW GEARMODE 2 1 C2 28 11 9 27 OPMODE8 8 169 CDHD 170 Motion Operation mode 8 Position Position Profile mode Motion Pr
16. GEARIN GEAROUT XENCRES 4 MENCRES 2500 GEARIN 1 GEAROUT 1 10000 4 8 10000 T ue 164 F C2 IF C3 IF CDHD 28 11 PLC e 9 27 PLC CDHD I F 1 11 PLC e 2 12
17. 1 5 CDHD ServoStudio 19 O 2 Digital Qutputs State Hame Mode Inversion Connector o Output 1 2 Brake p C2 6 22 m m 20 DISTIME 30 ms DISTIME DISSPEED Drake on _ Disable J m j P DISTIME 6 23 DISTIME CDHD DISTIME CDHD STO 6 11
18. rB o 122 CDHD Jb oJ BG 5 7 2 Bu Sz 8325 2E S 2 9 MHE IMIZ index 7 A 5 VarCom MOTORSETUP IE 30
19. 10 VDC RS232 USB CANOpen amp RS232 USB CANOpen HD 0 2 ms 7 LED Windows ServoStudio 1O r Counts deg rps rpm deg s rps s rpm s deg s 2 STO
20. 31 25 hks 5 5 156 25 ks 5x31 25 156 25 VarCom RECLIST 6 32 GHE 3 64 R
21. At1 MOTORSETUP At2 CLTUNE CDHD JJ 1 I L1 L2 L3 LA 7 5 12 7 10 ERII AE FAET MET EX ServoStudio Mode IATER
22. PE Limits Current Limit velocity Limit Position Limit Drive Peak Current Motor Peak Current 5 22 ServoStudio VarCom MIPEAK CONFIG VarCom ANIN2MODE ANIN2ISCALE 134 CDHD JJ a Bio HEIA s d 10 V ILIM ILIMACT ILIM AALO 16 14
23. FPGA Config FPGA CDHD e105 e106 e107 e105 T xh e106 T xh e107 TA EEPROM EEPROM EEPROM EEPROM 209 CDHD e108 e109 e120 210 e108 Th e109 Th e120 T xh E
24. lo VarCom 2 VarCom ANIN2LPFHZ DC VarCom ANIN2OFFSET VarCom ANIN2DB VarCom ANIN2 145 JJ s HG El CDHD 217 WVarCom ANIN2ZERO 5 14 3 ServoStudio l 146 OPMODE 1
25. 24V 1A e 1 D1 D2PN 1N4002 Vr 100 V e 24 V lt 50mA gt 5000 k A R n D gt LIS m Fu gt x 2 4 B a P sl e 3 18 CDHD C2 iw 1 24 VDC fim APT AF1 A se ER 24V 2 1 OUT 1 C2 2 21 C2 AP1 AF1 BEL 2 23 C3 m5 BEA TAMARA 83 CDHD 3 8 400 480VAC 400 480VAC CDHD e STO P1 e 24 VDC P2 P3 P4 P5 N
26. VarCom ANIN1OFFSET 10V ANINT ANIN1 1 ANINTOFFSET ANIN1 ANIN1 10V 10V 10V ANIN1OFFSET 595 10V 5V 10myv 5V ANIN1OFFSET 1 VarCom ANIN1DB CDHD ANIN1DB 0 6 600 mV 600 mV ANIN1DB
27. CDHD 7 7 120 240VAC 2 1 CDHD 020 CDHD 008 CDHD 4D5 CDHD 1D5 CDHD 024 CDHD 010 CDHD 006 CDHD 003 CDHD 013 2 1 120 240 VAC CDHD 400 480VAC 2 2 CDHD 012 CDHD 003 CDHD 006 a 2 2 400 480 2 2 2 2 1 120 240VAC 2pls for screws M4 or UN 8 RE l VANAN MM NOU l i NU 152 4 150 173 164 W m AN l 143 7 43 2 2 3 h CDHD 1D5 CDHD 003 120 240 VAC mm CDHD 1D5 CDHD 003 17 54 6 2 pls for screws M4 or UN 8 i 164 DU y 0 III UM HHL Y 157 4 2 4 CDHD 4D5 CDHD 006 120 240 VAC mm 54 6 2pls for screws M4 or 8 i i 173 185 194 3 k 181 6 2 5 CDHD 008 CDHD 010 CDHD
28. ServoStudio HD PID 10 20 CDHD HD Wizards Motor Restore Select Motor Setup Wizard Family Select Motor Restore parameters to drive Ver 2 5 Model Select Model Without Load With or Without Load SSV file Wizards Setup Wizard Tuning Wizard Reduce Global Gain Does position error PE oscillate Global Gain Does position error PE oscillate Need to improve YES ES bicis settling time and or 9 tracking error NO 12 1 CDHD HD Current Command Position Command gt 12 2 CDHD Motor_Library With or Without Load Motor Library Manufacturer se
29. CDHD 101 ServoStudio CDHD L m Ctrl 0 Ctrl 5 m Varcom DUMP Ctrl C Ctrl V CE Be k ll SLE AAN SETS IE I ServoStudio ServoStudio
30. Show Previous Show Reference 109 DK 25 E 110 Name Value Units Motor Name MT B13202C Motor Type 0 Motor Continuous 12 882 peak Motor Peak Current 38 891 peak Motor Maximum Speed 4700 RPM Torque Constant Rotor Inertia Undo Ctrl 7Z Enable Save To File Motor Resistance Motor Inductance Motor Poles Motor QOver Temperatu 3 Commutation Offset Degrees Motor Commutation Ty Torque Commutation Torque Commutation 5 5 3 EN K IO
31. 7 91 ServoStudio CDHD 4 ServoStudio 4 1 ServoStudio GUI CDHD ServoStudio ServoStudio 1280x800 1024x768 Windows7 100 ee 5 e 0 Toolbar Info L m ine Enabled Config Hel Sidebar Wizards Motor Setup Autotuning Drive Configuration Drive Name DEMOKIT Communication Drive Information Power Rating Drive Model CDHD 0062AAF 1 00 Drive Peak Current 25 4 A 18 Arms Motor Feedback Motion Units HE P Feedback Type incremental encoder A B Halls Tamagawa Limits Current Foldback Digital UOs Power Board Version Analog I Os FPGA Version Homing Disable Mode Enable amp Faults ig ameaapmwas Motion Current Loop Velocity Loop Drive Information Drive Details Drive Settings Serial Number 111F 00192yy June 2011 Drive Continuous Current 8 4 6 Arms Control Board Version Positio
32. CDHD JJ BG PL Hardcoded firmware and factory default parameter values Non volatile user defined parameter values Hardcoded firmw are and factory default parameter values Non volatile user defined parameter values 5 1 ServoStudio Drive RAM Working memory holds parameter lt values during online operation Working memory holds parameter values during online operation Servo Studio Files on PC Terminal Application ServoStudio SEPLink HyperTerminal ServoStudio Save Flash amp Backup amp Restore Generate Renon Drives 1 Drive detected Director CAUsersiownenDocuments ServoStudio Backup All Restore All 4 Save in each drive after restore 5 2 ServoStudio 107 DESIT Et CDHD 108
33. condition statement lt gt lt lf gt lt lt lt gt 1 if while ServoStudio 245 CDHD 9 4 1 Label Goto While Delay 246 Syntax Variables Operation Syntax Variables Operation Syntax Variables Operation Syntax Variables Operation Syntax Variables Operation itLabel Zabe Name LabelName Ilf Goto Goto lt LabelName gt LabelName Goto ilf lt Condition Label Name Condition lt gt I LabelName Goto While lt Condition gt While Condition can be lt gt I While End While 2 While While Delay lt VarName lt VarName gt
34. Offsets of Prev PIPVCMD 25 Multiply 0 8 Update Defaut 6 34 192 CDHD Y Y Y Y 0 100 MICONT FFT FFT
35. EN IEC 618005 1 1 90 C 5
36. 2 1 Help About Help ServoStudio 18 F1 About ServoStudio Wizards Motor Setup Autotuning Drive Configuration Communication Drive Information Power Rating Motor Feedback Motion Units Limits Current Foldback Digital 1 05 Analog l Os Homing Disable Mode Enable amp Faults Tuning Motion Current Loop Velocity Loop Position Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore 93 ServoStudio CDHD amp amp
37. A B Z 8 10 4 6 24 2 A B Z 5VDC IN 8 IN 10 OUT4 OUT6 AP1 AF1 24 EC2 PN2 2 59 CDHD 1 7 Feedback 13 3 5 R 3 4 C4 1 A SSI data 2 B 551 clock Z cosine 14 26 14 A SSI
38. SSI AB Til DC 5 VDC 7 VDC 250 mA AWG 28 3 m AWG 24 10m RS485 4 MHz 2 5 1 hs 0 45 1 6 8 kHz 6 22 Vpp 120 O 55 mArms 10 Vpp 1 Vpp 2 5V 270 kHz EnDat 2 1 HIPERFACE 120 O 65536 16 16384 14 EnDat 2 2 BiSS C SSI PTC NTC AB R9422 33 CDHD 2 3
39. 5 6 19 0 0 0 250 750 1000 1250 1500 Milliseconds 6 19 6 20 0 0 ed 0 ISTOP Fn 0 200 400 600 800 Milliseconds v amp 6 20 6 21 5 177 CDHD 1250 VCMD v 200 400 600 Milliseconds 6 21 ISTOP DISMODE4 DISMODE5
40. ServoStudio 5 INMODE 5 17 6 INMODE 6 18 amp P amp D I F or IF 5 6 166 CDHD Motion Operation Mode 4 Position Gear Mode Multiplier P Yes 464 Yes N WE Limit al 2 1 349566 688 Gear Input 2 Controller UF Controller Machine UF RS422 Opto Isolated RS422 Incremental Encoder AqB F v Multiplier V Engaged Pulse amp Direction P amp D Up Down Gear Filter Mode Ratio Gear Filter Velocity and Acceleration Depth 4 000 ms Gear Ratio Divider L Gear Acceleration Threshold 1000000 000 rpms External Encoder Resolution 1024 Gear Acceleration Threshold Gear Filter Acceleration Feedforward 0 000 Actual Values Motor Current 0 008 A Velocity 0 000 rpm Position 349566 688 Counts 6 10 1 4 ServoStudio 5 ServoStudio
41. Ek index MENCTYPE 0 1 2 index index Index INDEXFIND index index ServoStudio Index INDEXFIND index Index LED r5 5 8 2 A B 1V 5 8 3 5
42. amp amp m ServoStudio 4 1 2 ServoStudio T Derivative Integral Current Filter Description HD derivative integral gain Command Name KNLIV Derivative Min Value M
43. ServoStudio 103 ServoStudio CDHD Preferences Basic Advanced Configuration Files Hame Ernber File Map File map Hotes File txt Advanced Operation Mode Refresh Rate of Data from Drive mz Disable checksum in serial communication Project File Project File CANopen Device Fast communication baud rate File Name ember a 0 Drive map Hotesz txt Fr SSProject spj 4 8 ServoStudio CANopen 4 5 ServoStudio CAN ServoStudio ServoStudio ServoStudio CsCAN Kvaser Leaf CSCAN
44. 4 2 ServoStudio UE ARES e 4 3 XR ServoStudio 96 CDHD ServoStudio 4 3 1 CDHD etin Terminal gt Digital Servo Drive Firmware Version 0 0 13 under construction FPGA Version 1 12 April 18 2011 Resident Version 0 0 3 gt 8 gt 1 stopped 2 moveinc 1 50 peinpos 0 100 rev gt Command Value Display Format 1 Default pe 0 000 rev Default stopped 2 Default
45. fit E FEL YE E T T E BE T E EE 360 D3 Port Description Conmectedto Cable Type 4 Motor Feedback Motor Feedback Shielded 5 Controller I F PLC Host Controller Shielded 6 Machine I F PLC Host Controller Shielded 9 RS232 PG Unshielded 10 Regeneration Resistor Gleno ProtectedGround Mains RS232 Single Phase Daisy Chain 120 240 VAC ET gt z e PI il Y ull mE STO Circuit Breaker Safe Torque Off or Fuses Line Filter Regenerative Resistor Magnetic Contactor Motor Power Motor Feedback Machine I F Controller I F USB to PC CAN In CAN Out 3 2 3 3 4 EMI X 54 CDHD
46. 175 CDHD VarCom 6 17 DISSPEED 1000 1000 0 BDD 1000 1500 2000 2500 3000 Milliseconds 6 17 Servo Studio Active Disable siar Intemal qualification for V lt DISSPEED Breke on n rie Internal Time out according to V and DECSTOP DISTIME 6 18 25 1E 27 PR TNI Notes DISTIME EHHE KE DECSTOP 1 176 CDHD 6 9 2
47. m Md ServoStudio CAN 189 CDHD Excel CSV Microsoft Excel
48. A B index MOTORSETUP index 179 CDHD 6 12 180 MFBDIR MPHASE MPOLES MENCRES MENCZPOS MFBDIR MPHASE MPOLES MENCZPOS MENCRES
49. MPOLES CDHD CDHD 5 1 2 106 CDHD Flash e RAM RAM Flash Flash RAM RAM
50. VarCom ANINT ANINTISCAL 0 1 0 1A VarCom ANINISCALE VarCom ICMD 6 3 1 1 MYO 8 BH 26 ACC Motion Operation mode 1 Analog Velocity signal mdr Deadband Filter bo o oo E Analog Input bor Bi 200 000 elocity Scaling Velocity Command r Actual Values Motor Current 0 111 A velocity 602 765 rpm Position r455243 812 Counts 6 4 ServoStudio In addition to tuning the current and velocity loops certain drive variables need to be set 159 CDHD 6 4 160
51. F O 1 Y 191 CDHD iH X
52. PARERA ZZ Motion Terminal Parameter Table Measure Script Value Unit HD Global Gain 1 000 7 HD Derivative Gain Hep 107 099 Hz HD Proportional Ga 48 673 Hz HD Derivative Integ save To File 76 395 Hz HD Integral Gain Description HD adaptive gain scaling factor HD Flexibility Comp Edit Command Name KNLUSERGAIN HD Spring Filter m Min Value 0 001 LHD Maximum Adaptive Gain Max Value 3 5 3 ServoStudio ServoStudio CDHD JJ Help Enable Kill Save to File Details Edit Motion Terminal Parameter Table HD Spring Filter HD Maximum Adaptive Gain HD Current Filter Damping HD Current Filter Low Pass Filter Rise Time HD Current Filter Match Filter Center HD Current Filter Match Filter Bandwidth Deceleration F1
53. PWM lleak 20 Lx1mA m PWM 8 kHz lleak nx20 mA Lx2mA m PWM 16kHz eah n 3 5 mA IEC61800 5 1 10 mm 3 4 3 RCD IEC 60364 4 41 1EC 60204 RCD RCD 5 m 30mA RCD 3 5 3 5 1 CDHD 233 3 5 2 10
54. 1 0 64 ANIN10OFFSET VarCom ANIN1ZERO m 5 14 2 VO C2 I F B 18 35 ANIN2MODE ANIN2SCALE Analog Input 2 Anin 2 Mode 1 Dual gain external Analog Input 2 Filter 1000 Hz Analog Input 2 Offset 0 000 Analog Input 2 Deadband 0 000 Analog Input 2 Value 0 000 V Set to Zero 5 31 ServoStudio 1 0 ABBA PIRMA 1 RE 2 CB F ERRE 8 26 OPMODE 1 OPMODE3 1
55. ServoStudio 117 DESIT Et CDHD Manual Connection Port Baud rate 445200 Address 19200 5 10 3 19200 ServoStudio 4 ServoStudio RER ServoStudio VarCom BAUDRATE 5 4 3 CANopen CAN Communication Connection Serial CANopen Auto Connection Port Address 3 Limit Address 6 Bitrate 500 T 7 All Addresses Search amp Connect Connect Go Offline Stop Blink Display Connection established IDs to connect 5 11 ServoStudio CAN 118 CDHD Jk sj
56. CDHD 152 6 6 4 6 7 XENCRES BJ 1 120 480 GEARIN 1 XENCRES 120 MO 1 GEARMODE MO VO C3 4 13 BH GEARMODE 0 1 C2 28 11 A 9 27 B GEARMODE 3 MO C3 1 11 A 2 12 B
57. 150 RECDONE GET ILIM BW Undershoot LMJR 18831977 LMJR LMJR 100 VarCom VELCONTROLMODE 2 CDHD 6 14 4 HD ServoStudio HD Velocity Controller Method 5 HD velocity control with integrator Feedback Integral 0 000 Hz Derivative Integral j qo 2 Command Global Gain 0000 E Current Filter w LE T kas 1000 Proportional T Flexibility oon E Compensation Snow Derivative oo
58. R 3 1 120 240 VAC CDHD 1D5 CDHD 003 Molex 0638190000 P1 YRF 880 P2 P3 EJ JFAJ3 P2 J FAT OT 50 CDHD CDHD 4D5 CDHD 006 Molex 0638190000 P1 YRF 1070 P2 P3 P4 EJ JFAJ3 J FAT OT CDHD 008 CDHD 010 CDHD 013 Molex 0638190000 P1 YRF 1130 P2 P3 P4 YRF 1070 P5 EJ JFAJA P2 P3 P4 EJ JFAJ3 P5 CDHD 020 CDHD 024 Molex 0638190000 P1 400 480 VAC CDHD 003 CDHD 006 CDHD 012 Molex 0638190000 P1 P2 2mm 3 1 BRUSH BELL MOUTH INSULATION CRIMP 3 1 MA 51 CDHD e USB2 0A f Mini B USB e 4p4c RS232
59. USB C1 USB 2 0 A Mini B 3 9 USB USB Windows 72 CDHD A ServoStudio S 4 Windows ServoStudio lo RS232 CDHD C7 4P4C Pi I GEI er RS232 3 10 5232 R 3 24 RS232 1 RX Receive 2 GND ISO Ground 3 TX Transmit 4 Unused 3 6 6 RS 232 RS 232 C8 1 99 0 Daisy Chain 3 11 3 25 C8
60. 120 240 VAJ 2 3 1 120 240 VAC CDHD 1D5 003 Circuit Breaker STO or Fuses Safe Torque Off Connect to 24 VDC power supply or use bypass plug Line Filter Regenerative ti optional Resistor optional Magnetic Contactor To be supplied by customer Refer to EMI Suppression in the user manual 3 lt 2 9 120 240 34 EtherCAT or CAN Mains Daisy Chain Single Phase 120 240 VAC RS232 Rotary Switches Drive addressing USB mini B Connect to PC Connect to Host Controller Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs 1x analog output Connect to Additional IOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Motor Feedback Functional Ground Motor Brake optional e CDHD 1D5 003 Brake Output 24 VDC Power Supply Motor Power VAC CDHD Daisy Chain Controller I F EtherCAT In EtherCAT Out C8 0 1 IDC Female C2 MDR 36 Plug 24 28 AWG C5 RJ45 C6 RJ45 NELTRON 4401 10SR 1 24VDC return 19 24 VDC OR or COXOC 304A 10PSAAA03 Common output Common input OR STX PN CONr0000001 0 67 19 S Digital output 1 20 Digital input 2 CAN In CAN Out C5 RJ45
61. VarCom DICONT VarCom IFOLDTHRESH VarCom IFOLDWTHRESH VarCom DIPEAK 5 11 2 VarCom MIFOLD VarCom MICONT CONFIG VarCom MIFOLDTHRESH VarCom MIFOLDWTHRESH VarCom MIPEAK CONFIG VarCom MFOLDD VarCom MFOLDT VarCom MFOLDR VarCom MFOLDDIS 5 12 FIO CDHD 8 3 1 0 1 0 ARMEA NE SE Rb E MO MO MO e 1 0 13
62. THERM THERMODE THERMODE 3 oe THERMTYPE NTC K THERMTYPE 0 PTC CDHD e THERMREADOUT THERMTRIPLEVEL THERMCLEARLEVEL PTC THERMTRIPLEVEL THERMCLEARLEVEL THERMTRIPLEVEL
63. All Command Command Value Display Format Mask 4 3 2 ZU X o Scope m P B FE ne Samples Samples 1000 Time Interval 8 x31 25 ps 250 0000 ms Trigger Setup Mame MM Dir i Up Dawn Level 1 Pre Points 10 Record Variables ED 100 150 Select X yl NC yl 200 Milliseconds PCMD 0 1 Terminal Parameter Table Measure Script RE iPrPVCH D 014 Operation Mode 8 Position E IPE 0 1
64. IEC 61800 5 1 Low Voltage Directive 2006 95 EC Adjustable speed electrical power drive systems IEC 61800 3 EMC Directive 2004 108 E Adjustable speed electrical power drive systems EN 50581 Support Essential Requirements of EU RoHS Directive 2011 65 EU Directive on the restriction of the use of certain hazardous substances in electrical and electronic equipment UL 508C TUV Rheinland certification Power Conversion Equipment REACH EC Regulation 1907 2006 Regulation on chemicals and their safe use IEC 61800 5 1 Low Voltage Directive 2006 95 EC Adjustable speed electrical power drive systems 29 IEC 61800 3 EMC Directive 2004 108 E Adjustable speed electrical power drive systems 0 45 0 70 C 10 90 lt 1000m Zi gt 1000 330m 5 1 0g IP20 2 1EC 60664 1 Book mounting 2 2 5 2 8 CANOpen CANOpen CiA 301 CiA 402 0 5M 1M bit s EtherCAT
65. 201 JJ w 1 2 Wr CDHD 1 1 TN CONFIG DIR MENCTYPE MOTORCOMMTYPE ENCOUTMODE MFBDIR MOTORTYPE ENCOUTRES MFBINT MPITCH FEEDBACKTYPE MFBMODE MPOLES KCBEMF MICONT MR KCD MIPEAK MRESPOLES KCDOCOMP MJ MSPEED KCFF MKF PWMFRQ KCI MKT PWMSATRATIO KCIV ML VBUS KCP MLGAINC VLIM MENCRES MLGAINP CONFIG FEEDBACKTYPE MJ VLIM KCD PWMFRO CONFIG 202 CDHD 5 5 T xh T xh T xh fi MOTORSETUPST MOTORSETUPST 2 H RA H 203 CDHD 2
66. 50 45C 45 3 6 e USB C1 0 7 AP USB e C2 ixi amp l O C3 C4 C5 C6 56 CDHD 3 6 1 C2 RS232 C7 C8 C3 C4 CDHD 4 40 MO C2 MO 1 O 24 VDC 19 24 VDC 1 AP1 AF1 C2 C3 24 24 24 EC2 PN2 m MO C2 1 0 C3 m MO C2 1
67. ServoStuido CAN CAN 1 CAN 2 COMMODE 1 E 3 500 kbps CANopen ServoStudio gt CAN CANopen CAN 500 CAN 5 CAN CANopen ServoStudio Ej CAN T js 119 DESIT Et CDHD 5 5
68. 154 CDHD Jk s Flash csv txt EI RAM TXT SSV E n 155 CDHD 6 6 1 156 10 V O
69. 2 6 ServoStudio gt 7 4 9 F RS422 amp P amp D I F amp P amp D IF amp P amp D 5 6 3 5 6 9 gt 10 5 17 11 6 18 CDHD Motion Units Limits Current Foldback Digital Os Analog l Os Input 4 0 dle C 14 Input 5 17 Pulse signal M 32 F Input 6 18 Direction signal z C 15 ser Note 6 e C C ser Note 4 ser Note 5 input 7 0 dle E M5 6 11 ser Note 7 4 12 CDHD
70. e mpoles 4 poles COND 10 7 MSGPROMPT lt CR gt MSGPROMPT AER TENA lt CR gt 10 8 CDHD 1 5 CDHD 1 ADDR 0 CHECKS
71. Lu 255 Daar 138 VA CDHD CR X 1 99 V CR bie 10 4 10 5 VarCom VarCom lt CR gt VarCom CR D 16 115200 ESC VarCom
72. VarCom UVMODE RERE VarCom UVRECOVER VarCom VBUSREADOUT JJ s HG El Motor Select Motor Family Servotronix Motors SIX database prototype version Ver 2 5 Motor Library Model MT 6CCA401C N T New Motor Name Value Units Motor Type Motor Continuous Current 4 95 peak Motor Peak Current 14 848 peak Motor Maximum Speed 4500 rpm Torque Constant 0 262 Resistance 1 87 ohm Motor Inductance 2 mH Save Library Load from Drive Motor Poles Delete Model W
73. CDHD HD rm r FE samples 300 dd Time Interval 18 x PTPVCMD 31 25 500 0000 ms 200 x ICMD Trigger Setup It Dir amp Down Level 1 Pre Points 10 Record Variables Sel Mame X 100 200 300 400 500 F IE Milliseconds F PEMD 1 Motion Terminal Parameter Table Measure Script m Terminal Measure Scip R 0 1 Name Value El 40 NL Adaptive Gain Scale Fac 1 000 w dem a 3 10 NL Derivative Gain NL Froportional Gain NL Integral Gain NL KF Spring Gain INL Kf Spring Filter NL Maximu m Ada ptive Gain lt 12 20 65 000 NL Derivative Integral Gain Hz 10 000 5000 000 2760 150 000 134 0 0 0 VCHD 0 0 0 0 KNLP 65 Hz 10 f OK OK KNLIV KNLIV PE KNLIV UH KNLIV
74. Motor Over Temperature N a Savelibrary b Write to Drive RAM H DESIT Et CDHD c Verify d Motor Select Motor Family User Motors gt User defined motors Ver 1 5 User Library Model DemoMotor M New Motor Value Motor Name DemoMotor Motor Type 0 Motor Peak Current 15 000 A Motor Continuous Current 5 000 A Motor Maximum Speed 4500 000 rpm Motor Inductance 4 200 mH Motor Resistance 1 870 Ohm Motor Poles 14 poles Torque Constant 0 016 Nm A Save Library Load from Drive Rotor Inertia 0 030 Kgm2 10 3
75. f PFB X PFB CDHD r35 r36 r35 T xh r36 PFB PFB 235 CDHD r37 r38 236 r37 Definition Type Active disable Description Action required r38 Definition Type Active disable Description Action required Th
76. REMOTE amp ServoStudio 7 2 ServoStudio js Messages 199 CDHD 7 4 200 amp amp ServoStudio The ServoStudio amp
77. NLANTIVIBHZ Hz 14Hz 2 296 CDHD NLANTIVIBSHARP NLANTIVIBSHARP NBF 0 1 1 0 Setting the Antivibration Feature Sharpness KnlAntiresHz and KnlAntiresSharp KnlAntiR esHz KnlAntiR esSharp 0 1 Vibration Suppression Response 20 25 30 35 40 Frequency Hertz 13 4 20Hz NLANTIVIBSHARP Step 2 NLANTIVIBGAIN CMD FJ
78. CDHD 250 500 750 1000 1250 1500 Milliseconds 6 15 DISSPEED 100 1ms DISTIME DISSPEED DISTIME DISSPEED 100 6 16 DISSPEED DISTIME DISSPEED 1000 DISTIME 1Ims 100 1000 DISTIME 1000 110ms VEMO 1500 1000 500 500 500 1000 1500 a000 2500 3000 Milliseconds 6 16 DISSPEED DISTIME
79. CDHD 25 SAVE ServoStudio Save 85 CDHD comport COM29 emberMode software hardware firmware c Temp test Resident i00 ember c Temp test ember a00 comtype serial CanOpen serialbauderate 115200 drivelD 2 comport emberMode ember firmware 00i ember ember 00a comtype CANopen serialbauderate drivelD ID start wait ServoStudio exe comport COM29 emberMode software firmware c Temp test Resident i00 ember c Temp test ember a00 comtype serial serialbauderate 115200 drivelD 2 echo errorlevel 243 CDHD 9 9 1 ServoStudio ServoStudio VarCom VarC
80. 120 240 V 400 480 V 5 0 e E f l f 4 it to T 2 SERVOTRONIX always in motion CDHD 5 0 2013 9 1 4 X 4 2 2013 5 4 1 2013 3 4 0 2013 2 3 2 2012 10 3 1 2012 10 3 1 3 0 2012 9 3 0 2 1 2012 1 2 1 2 0 2011 12 2 0 1 0 2011 10 1 0 0 2 2011 6 0 1 2011 6 ServoStudiio 1 4 X 1 4 3 x o 2013 Servotronix Motion Control Ltd Servotronix Motion Control Ltd Servotronix Motion Control Ltd ServoStudio Servotronix Motion Control Ltd CANopen CiA CAN
81. 2 25 3 6 4 CANopen 1 3 7 Kvaser CANopen 2 CAN CANopen ServoStudio ServoStudiode RS232 USB 5 CAN L11E7 1 EDS Servotronix 2 C8 Termination Resistor Switch 3 6 CAN 9 10 T 120 0 2 amp m FR B 11 T CAN 120Q 70 CDHD 12 RJ45 C5 C6 _
82. DISTIME 6 10 Rig 178 120 240 CDHD I F F qe FUP EPLI ER ServoStudio 400 480 P4 ZEILE MT fH o P4 VarCom 400 480 120 240 ServoStudio OV 24V
83. 184 l Ai 729 10 11 12 13 14 15 PITRE OPMODEO VELCONTROMODE 2 EN BW 10Hz 0 LMJR 0 LMJR 0 10 000 0 100 10 LMJR 1000 10 100 VCMD ICMD V RECORD 1 1024 VCMD ICMD V 150 150 RECTRIG 200 20 RECTRIG VCMD 200 20 1 RECTRIG 200 J500
84. CDHD 3 4 C3 i amp amp 1 0 E o 2 3 3 C3 i amp MO 5 1 A B Z 7 9 11 5 24 1 A B Z 5VDC Fi IN 7 i HX IN 9 IN 11 OUT 5 AP1 AF1 24 EC2 PN2 1 3 6 3 CA 20 5 _ uU Cn 20 CA 1 2 14 15 12 25
85. 2 l 114 CDHD Jk Jd 3 2 3 4 N 25 Bz El 5096 75 Set Limits J Low e Medium High User Defined Current Limit ILIM A112 7 425 11 137 A 0 000 Velocity Limit VLIM 1125 000 rpm 2250 000 rpm 3375 000 rpm 10 000 rpm Position Error Limit PEMAX 1 rev 0 5 rev 0 25 rev 0 250 rew w 5 7 ServoStudio 1 2 0
86. EHI 112 CDHD Jp Ji RA NO0 EF REJ L sh p S cl 113 DESIT Et CDHD 5 3
87. E CDHD F3 Fb1 Definition Type Active disable Description Action required fi gt MICONT gt 0 9xILIM V lt STALLVEL STALLTIME Displayed in sequence Fieldbus Target position exceeds velocity limit Fault Yes A target position command from controller was rejected because it would cause motor to exceed the velocity limit This fault disables the drive Enable the drive and send valid position commands 213 JJ 6 12 Wr CDHD Fb2 Displayed in sequence Definition Fieldbus Target position exceeds acceleration deceleration limits Type Fault Active disable Yes Description A target position command from controller was rejected because it would cause the motor to exceed the acceleration deceleration limit This fault disables the drive A
88. address lgnite nn nn Ignite ERE Ignite 7 lgnite 22 ServoStudio 23 lgnite ServoStudio amp 24
89. N Motor Setup Step 1 Drive Information 1 Review the drive information 2 If necessary click Restore Factory Default to restore the original drive parameters 3 Optionally enter a name for the drive Drive Name DEMORIT Drive Details Drive Settings Drive Model CDHD 0082AAF 1 00 Drive Peak Current 25 4 A 18 Arms Serial Number TriF 00192yy June 2011 Drive Continuous Current 84 6 Arms Firmware Version 1 2 6 Feedback Type Incremental encoder A B Halls Tamagawa Control Board Version 07 Power Board Version 15 FPGA Version 1 40 Restore Factory Default e Step 1 of5 Connection Info Motor Limits Direction Save 4 P 5 7 ServoStudio 0 0 1 uA 1 1 2
90. ServoStudio EHAK Ember Ember flash Ember CDHD Ember Ember Ember Ember Ember daisy chain C8 7 Recessed Hardware Ember Switch a 8 1 Ember CDHD 8 3 20 21 ServoStudio TREA Firmware Upgrade U
91. 4MHz SEIR 2 25 ENCOUTRES Sine f EnDat EnDat CDHD r14 r15 r14 T xh r15 Th Sine f MENCTYPE Sin Cos f sine cosine sine cosine 227 32 w 12 07 CDHD r16 r17 228 r16 r17 5V f
92. A CDHD JJ 12 I b1 H PLL TA SYNCSOURCE C1 B C Definition CAN Type Active disable Description CAN Action required e TA 207 CDHD E e101 208 Th Th e101 T xh Ember
93. CANopen 5 6 e ServoStudio 111 Jb oJ is BO E CDHD Power Rating Motor Feedback Motor Setup Wizard Connection Drive Name Motor Current Limits Velocity Limits Motor Direction Motion Units Current Foldback Digital Inputs Outputs Analog Inputs Outputs Homing Disable Mode Enable Clear Faults If working in a Current Loop Tuning Current operation mode configuration is complete r4 If working in a If working in a Position operation mode Velocity operation mode Autotuning Wizard Velocity Loop Tuning a 5 6 320 220V 110V 160
94. COM 0 99 6 ID COM ServoStudio ServoStudio ID A ID USB Windows COM USB 0 99 152 A Z p cB ECT E 115200
95. Excel s CSV Microsoft Excel 3 HD KNLUSER HD l Flash 2 3
96. ECHO ECHO 0 frm O E S IE ECHO 1 ECHO MSGPROMPT 0 1 CDHD JJ as EDO CHECKSUM 0 1 8 lt gt 0x1F lt 1F gt 10 6 wE ASCI Message T ermination
97. MENCTYPE MICONT 21 22 23 MOTORSETUP 24 7 A 5 MOTORSETUP 0 MOTORSET MOTORSETUPST ni JF X HHo 7 H
98. 24V 10 mA 1ms 3 24V 10 mA 1 hs 4 EtherCAT PROFINET 24V 40 mA 1ms 2 EtherCAT PROFINET 24V 10 mA 1 hs 10 V 8 2 KHz 100 kQ RS422 3 MHz AB 1 us 24V 1A DEA 31 EC 32 CDHD 2 2 7 CDHD 2 10 CDHD
99. f amp amp Tamagawa f CDHD r27 r28 r27 r28 T xh E 160 100 f 233 CDHD r29 r34 234 r29 r34 Th
100. pm ES e Overshoot E Command PTPVCMD Response V 6 37 6 16 3 EARED 5 01 280 T CDHD 25 Cursor 1 t 106 250 0 000 PE 0 000 ICM x PTPVCMD 15 E 10 5 0 F __ i F EVE n E A ML 50 100 150 200 Milliseconds jon Terminal Parameter Table Measure Script Time ms PTPVCMD ICMD V Cursor Mo 1 105 250 0 000 0 000 0 187 0 163 Cursor No 2 122 500 0 000 0 313 0 157 0 079 Cursor Difference 16 250 0 000 0 313 0 030 0 242 RMS RMS Between Cursors 0 000 0 510 0 127 0 111 Average Average Between Cu 0 000 0 221 0 016 0 011 Min 0 000 4 972 3 597 0 401 Max 22 500 5 906 6 395 23 608 6 38 ServoStudio 1 X fu ms 1 X 2 X fu ms 2 X
101. 12 25 3 14 HERE X Index WARK f Sine XU 22 Sine 10 XU 23 Cosine 3 XU 16 Z 4 EU 17 5 W 11 5 24 5 26 BE Bic um 12 25 66 CDHD X 3 15 Sick 14 22 10 23 11 24 26 5V 51685 HIPERFACE MARA XU XU XU 3 16 Sick 14 9 22 10 23 18 24 26 SSI Data SSI Data Sine Sine Cosine Cosine 5 5 12 25 8 HIPERFACE MARA XU XU XU SSI Data SSI Data Sine Sine Cosine 8 8 12 25 67 CDHD 3 17 EnDat 2 2 MAk 1 SSI Data XU 14 SSI Data 2 X SS Clock 15 SS Clock 11 5 24 5
102. CDHD 9 4 2 Var Syntax Var lt VarName gt Var lt VarName gt Value Variables lt arName lt Value Operation Print Syntax lt l ar T gt Var 25 Variables Var 1 Var 2 J NEMERE JREJUERIHO BROCANTES FE Operation Print Parameters Syntax Variables Operation ClearOutput Syntax Operation Message Syntax Variables Operation Round itPrintParameters CommandName prefix AN IA EZ CommandName prefix VarCom VarCom VarCom itPrintParameters kc itClearOutput Message lt l arName gt VarName 25 VarName 1 gt lt VarName_ 247 CDHD Syntax Variables Operation SysValue Syntax Variables Operation 9 4 3 Plot Syntax Operation 248 Round lt l arName lt VarName
103. HF 360 660 VLOW VDC 380 380 VMAX VDC 400 400 2 2 120 240VAC CDHD 4D5 006 120 240 CDHD 4D5 CDHD 006 VAC L1 10 120 240 120 240 L2 L3 Hz 50 60 50 60 120VAC 1 or3 1 or3 240 VAC 1 1 1 3 Arms 8 5 4 10 5 8 FRN R LPN 10 10 1500 VAC 2121 VDC 1500 VAC 2121 VDC 120 10 240 10 VAC 1 1 L1C L2C 120 240 VAC A 0 5 0 5 STO VDC 24 10 24 10 STO 120 240 VAC A 1 5 1 5 U V W A rms 4 5 6 22 CDHD 120 240 CDHD 4D5 CDHD 006 VAC A peak 6 63 8 48 2 A rms 18 18 2 A peak 25 45 25 45 120VAC kVA f amp 0 5 0 7 240 VAC kVA 1 1 1 5 PWM KHz 16 16 A 7 7 ms 250 250 W W 5 5 W
104. VarCom CDHD CDHD CR ASCI 0DH Host Message Termination 10 3 CR LF ASCII ODH OAH Drive e m Message Termination gt z 10 4 CHECKSUM CHECKSUM lt CR gt lt gt ASCI hineurmanic em Termination 10 5
105. PLC e RJ45 CAN EtherCAT 3 2 2 e CPU 2 GHz RAM 1 NET Framework 4 0 1000 MB e USB RS232 Windows XP SP3 Windows 7 1280x800 1024x768 e ServoStudio Servotronix Net Framework 4 0 NET Framework System Requirements ServoStudio ServoStudio T 3 2 3 EDS CDHD CANOpen Servotronix e XML EtherCAT Servotronix 3 3 EMI 3 3 1 CE CDHD CE
106. VarCom ANINTLPFHZ ANINTLPFHZ ANIN1LPFHZ VarCom ANINT ANIN1VSCAL 500 500rpm VarCom ANINVSCALE VarCom ICMD 2 CDHD OPMODE 2 CDHD USB RS232 Motion Operation mode 2 Serial Current Current Current command _ Current Command Time stop Stat Actual Values Motor Current 0 009 Velpcity 0 000 rpm Position 0 063 6 5 ServoStudio
107. 16 17 18 19 20 RA VarCom HOMESTATE CDHD Jb oJ BG Et S HD J Z6ftfz ETSI IB rpm mm s e rpm s mmy s bi 1 2 mih N ServoStudio 3 OK 4 Next 1
108. 123 JJ s HG El CDHD 124 Rotary Motor Linear Motor Motor Name Motor Picture File optional Motor Peak Current Motor Continuous Current Motor Maximum Speed Motor Inductance Motor Resistance Motor Poles Torque Constant Rotor Inertia 5 15 ServoStudio Motor Peak Current Motor Continuous Current Motor Maximum Speed Motor Inductance Motor Resistance Motor Poles Torque Constant Rotor Inertia Mm peak kg m 2 107 3 lt lt Previous gt gt MIPEAK MICONT MSPEED ML MR MPOLES MKT MJ JJ Feedback selection Tamagawa Incremental Encoder 8 wires Feedback Type 2 Motor Encoder Type 11 Motor Encoder Resolution 2500 Lines per revolution 5 16 ServoStudio Feedback Type FEEDBACKTYPE Motor Encoder Type MENCTYPE Motor Encoder Resolution Motor Qver Temperature options Motor Over Temperature Mode 3 ignore thermostat input 5 17 ServoStudio
109. PEMAX j1 VarCom PE 7 INPOS 1 INPOS 2 0 PE PEINPOS H PE PEINPOS INPOS 1 171 CDHD 6 7 6 6 7 7 6 8 6 9 172 PE PEINPOS PEINPOSTIME STOPPED STOPPED 0 STOPPED 1 STOPPED 2 mE PFBOFFSET PFB 15 PFBOFFSET 16 PFBOFFSET 17 18 PFBOFFSET PFB
110. 1 DC 2 3 RXD 73 CDHD 4 GND 5 TXD 6 GND 7 10 3 6 7 10 CAN CAN 10 10 20 30 90 0 1 2 9 0 0 z 3 12 3 7 120 240 PE CDHD STO pP1 P2 CDHD 020 024 P4
111. 3 E qji 3 W Eu dii 3 E qji 3 B30 qji 3 W E di 3 W E qji 3 W B30 di 3 W Eu qji CDHD 1D5 2A CDHD 003 2A 1 fH High amp Low 04554 2 2 LCR 055M 80601 00 LCR 092 00423 00 Schaffner FN2070 CDHD 008 2A CDHD 010 2A CDHD 013 2A 1 48 High amp Low 20SS4 2KC3 Q LCR 0923 02021 00 LCR 092 02023 00 High amp Low 20554 2 3 0 CDHD 4D5 2A CDHD 006 2A 1 fH LCR 0923 01021 00 LCR 092 01023 00 LCR 055 81011 00 Schaffner FN2070 CDHD 008 2A CDHD 010 2A CDHD 013 2A 3 LCR 096B 02001 00 LCR 097 01601 00 Schaffner FN3258 CDHD 4D5 2A CDHD 006 2A 3 LCR 096B 01001 00 Schaffner FN3258 CDHD 020 2A CDHD 024 2A 3 LCR 096 03501 00 LCR 096B 03001 00 Schaffner FN3258 CDHD CDHD 012 4A 3 LCR 096B 02001 00 CORCOM 25FCD10 CDHD 020 4A CDHD 024 4A 3 LCR 096 03501 00 LCR 096B 03001 00 CDHD 003 4A CDHD 006 4A 3 LCR 096B 01001 00 CORCOM 25FCD10 11 2 H RE Ohms i CDHD
112. 33 2 IN6 OUT2 16 3 34 OUT3 17 35 2 10 VDC 18 2 0VDC 36 0 10 VDC Q 1 O 24 9 24 0 K 19 AP1 AF1 C2 C3 24 24 24 EC2 PN2 58 MO C2 C3 MO C2 1 0 C3 m LL LL 63 OH EC2 PN2 C3 ITE 2217510 1 EC2 PN2
113. csv txt Users owner Documents ServoStudio Reports History USB RS9232 XX E MUS IE de EN
114. 3 8 1 STO 400 480 VAC STO P1 A STO Servotronix SIL 2 PI d Cat 2 STO ER STO STO STO STO 24 VDC 9TO STO 4 1 3 2 STO 84 CDHD STO 3 19 9TO 3 35 STO 1 24V STO 2 GND STO 3 4 3 36 STO
115. 57600 115200 Rs232 USB XL ServoStudio ServoStudio ServoStudio CAN ServoStudio CAN ServoStudio 104 CAN CDHD ServoStudio Other functionality limitations and differences are noted in the documentation where applicable ServoStudio CANopen CANopen 1 DESIT CDHD 5 5 1 5 1 1
116. IET 2 _ __ _ 2 2 T SI cM 2 2 1 OO CN 222 oU tcc 223 2 24 TRIPLDUBEALIRFE TA IS Cea e E een DP NET NNUS 220 WO Oe ERU 227 a inm EE 2 3 1 120 240 VAC CDHD 1D5 003 23 2 120 240 VAC CDHD 4D5 006 15622772 2 3 3 120 240 VAC CDHD 008 010 013 fs 2212 234 120 240VAC CDHD 020 024 235 400 480 VAC CDHD 003 006 19882772 2 3 6 400 480 VAC CDHD 012 9882272 2 4 C2 BH aje IO E Sons ceci obw Cae Ud es tle RUD S bbc 2055 SEO 3 3 32 s um ED KOL EE 222 uu uuu ee 32 3 HUGE EE 33 EMAR P hillii yuya u re rM bate rac 11 11 11 11 11 13 13 13 14 15 15 16 16 17 17 21 28 29 30 30 33 34 34 36 38 40 42 44 46 48 50 50 50 50 52 52 52 XE o oc 52 te EE
117. zx 11 2 120 240 VAC CDHD 1D5 2A CDHD 003 2A W 1000 150 ISOTEK CDHD 4D5 2A CDHD 006 2A CDHD 008 2A CDHD 010 2A CDHD 013 2A 330 ISOTEK ULH150 N 100 K FL500 ULH150 N 33 K FL500 300 ISOTEK ISOTEK ULH300 N 100 K FL500 ULH300 N 33 K FL500 600 FRIZLEN FZECU400x65 100 1000 X 2000 X 3000 X 266 FRIZLEN FZECU400x65 33 ISOTEK ULV1000 N 33 K FL500 FRIZLEN FZZCU600x65 33 FRIZLEN FGFKU3100602 33 CDHD 020 2A CDHD 024 2A 150 ISOTEK ULH150 N 15 K FL500 ISOTEK ULH150 N 15 K FL500 ISOTEK ULV600 N 15 K FL500 ISOTEK ULV1000 N 15 K FL500 ISOTEK ULM2000 N 15K FRIZLEN FGFKU3100602 15 CDHD 4000 CDHD 4D5 2A CDHD 006 2A CDHD 008 2A CDHD 1D5 2A CDHD 010 2A CDHD 003 2A CDHD 013 2A X X CDHD 020 2A CDHD 024 2A FRIZLEN FGFKU3100802 15 11 3 400 480 VAC W 120 300 600 1000 2000 3000 4000 CDHD 003 4A CDHD 006 4A 47 Q P3 CDHD P3 ISOTEK ULV600 N 47 K FL500 ISOTEK ULV1000 N 47 K FL500 ISOTEK ULM2000N 47 K FRIZLEN FGFKU3100602 47 FRIZLEN FGFKU3100802 47 11 3 D9 RJ45 CDHD 012 4A 330 P3 P3
118. 6 18 139 DK z HU Et CDHD LED VarCom ININV C C2 M C3 F VO 5 12 2 ServoStudio DUMP MO gt Digital 1505 Digital Drive 8 Script M Digital Inputs State Name Mode Input 1 1 Remote enable o Input 2 0 dle Input 3 0 dle 2 Input 4 9 Script nus 10 Script Bit 0 nut 11 Script Bit 1 input 12 Script Bit 2 Input 8 13 Script Bit 3 Input 9 14 Script Bit 4 Q Input10 0 dle
119. SWENMODE COMMODE 0 149 DESIT CDHD IE 5 24VDC EN 4H K INMODE REMOTE 5 16 2 e ServoStudio CLEARFAULTS ServoStudio READY 5 16 3 150 Va
120. 13 14 GEARI GEARO PLC 1024 1024 2 1 6 6 3 168 HDC HD ZU A B B A
121. CiA 301 CiA 402 PROFINET PROFINET IO RT PROFI RS232 ASCII 5 ServoStudio HyperTerminal 9600 115200 bit s 10 m USB ASCII 5 ServoStudio HyperTerminal 9600 115200 bit s 3 m 8 0 99 10 m IDEE T A m 2 2 6 MO 2 9 1 0 10 VDC 16 14 8kQ 20k Q FRR 200 Hz 3 dB 1 KHz 10 VDC 14 30 CDHD 14 20 kO FRR 200 Hz 3 dB 1 KHz amp RS 422 4 MHz RS 422 4 MHz 8 BE EtherCAT PROFINET JB P
122. Counts VarCom T 65 0 OPMODEO USB 5232 161 CDHD Motion Operation mode Velocity Command 9 log Alternating Motion Profile Serial Velocity Acceleration 52000 000 rpm s Deceleration 52000 0000 rpm s e Time Optional U 000 Time s Actual Values Motor Current 0 058 Velocity 0 000 Position 40064 5875 Counts 6 6 ServoStudio 6 6
123. 229 32 i 12 07 CDHD r20 r21 230 r20 r21 Th ri rl ES ni MENCTYPE Nikon Nikon MENCTYPE CDHD r23 r24 r23 r24 T xh Hall Tamagawa f Tamagawa 231 CDHD r25 r26 232 r25 r26 T xh amp
124. NLPEAFF 400 30 Hz NLPEAFF NLPEAFF 220 Hz 120 Hz Scope mum EE E Samples E3 zz i mein 1000 30 Time Interval x 31 25 ps 187 5000 ms 20 Trigger Setup 10 Name IMM 0 Dir u p D own Level 1 10 Pre Points 10 20 Record Variables 30 Sel Name x 0 25 50 75 100 125 150 175 Milliseconds PCMD 0 1 1 W PTPVCMO0 0 01 Name Value zi pE 0 1 NL Derivative Integral Gain 80 000 pera 7 ICMD 0 1 NL Integral Gain 20 000 NL Kff Spring Gain 5000 000 7 m 0 1 NL Spring Filter z VCMD 0 1 NL Maximum Adaptive Gain 2 760 a NL Torque Filter 2 75 T PFB 0 1 NL Torque Filter 1 1 200 NL Notch Center 1333 z O 0 1 12 23 NLPEAFF 5000 Hz 289 HD Scope EMEND Milliseconds Value NL Derivative Integral Gain 80 000 NL Integral Gain 20 000 NL Kff Spring Gain NL Spring Filter NL Maximum Adaptive Gain 300 000 NL Torque Filter 2 NL Torque Filter 1 NL Notch Center 12 24 Scope 20 10
125. amp FLT CLEARFAULTS EN FLTHIST FLTHISTCLR Ef amp 7 7 7
126. Arms 9 18 24 2 Apeak 12 72 25 45 33 84 380VAC kVA 1 63 3 11 6 22 480 VAC kVA f amp 1 77 3 68 7 36 PWM kHz 8 8 8 A 7 7 9 ms 1300 1300 1300 W W 5 5 5 W kg 2 1 2 1 3 2 PE M4 1 35 Nm 4 1 35 Nm M4 1 35 Nm AWG 3 24 28 24 28 24 28 AWG 12 14 12 14 12 14 AWG 12 14 12 14 12 14 PE M4 M4 M4 mm 25 25 25 mm 50 50 50 VDC 320 320 320 800 800 800 Yes Yes Yes 76 5 76 5 76 5 100 3 596 100 3 596 100 5 C 40 40 40 B1 B2 A 16 8 16 8 23 9 Q 47 47 33 27 CDHD CDHD 003 CDHD 006 CDHD 012 400 480 VAC
127. 120 CDHD Jk Js 5 6 Power Rating Current Rating Drive Continuous Current Drive Peak Current Voltage Settings Bus Voltage DC Under Voltage Time Under Voltage Mode Under Voltage Recovery a Bus Voltage Limits 320 V ver Voltage Threshold 420 Vv 30 amp Immediate Fault Bus Voltage Measured 315 v Reenable 7 Auto Under Voltage Threshold 100 V 5 13 ServoStudio 5 6 5 7 VarCom DICONT VarCom DIPEAK DC 220 15518 7 320 110VAC 160 VarCom VBUS CONFIG RERE VarCom UVTIME
128. 2 1 RMS RMS STD 2 DL 196 CDHD 6 16 4 VarCom 16 RECORD 17 RECTRIG 18 RECDONE RECING 19 GETMODE 0 GET CSV RECORD RECTRIG RECOFF RECLIST RECTRIGLIST
129. 62 5 us DQ PI 10 VDC 5232 USB CANOpen 125 us 8 kHz Pl PDFF 10 VDC RS232 USB CANOpen 250 us 4 kHz PID amp ER fT RS232 USB CANOpen CDHD HD GUI 2 2 4 2 7 x A A A A x 4f 250 uS 4 kHz
130. KNLUSERGAIN CDHD Scope EET JI EM 59 an ED ES Ie Time Interval E x PTPVCMD x PE CMD x 31 25 ps 1000 ms Trigger Setup Hame Dir Up f Down Level 1 Pre Points 10 Record Variables Milliseconds Motion Terminal Parameter Table Measure Script NL Notch Center 1600 Acceleration 11800 000 Deceleration 11800 000 NL Anti Resonance Center 100 000 HL Anti Resonance Sharpn NL Anti Vibration Gain 0 000 Rad 10 7 Nm 13 5 1622 Z Wizards Setup Wizard Tuning Wizard 17 15 1 01 E E Drive Configuration Connection 400 Drive Information Power Rating Motor Feedback Motion Units Limits Current Foldback Digital Os Settling Time Position Mod Select Series Cmd Select Series PE PE Sel 1000 1250 1500 1750 O Postion Eror Window I0 _ Suggested Milliseconds sma as erminal Parameter Table Measure Script Value Unit a Poemer eo Terminal NL Notch BW 500 Hz sone Ba
131. s x Index Index Index Index MENCTYPE CDHD Up 5 6 2 r6 r8 r6 T xh 000 111 Tamagawa A B f sin cos 1 225 Ji oJ w 12 07 CDHD r9 r10 226 r9 r10 T xh E
132. 2 3 N ServoStudio 1 ServoStudio N 2 153 PTPVCMD PE EXCEL ServoStudio
133. IO H EN K ServoStudio Active m Disable 7 Ez LED Dizabled ServoStudio amp CDHD Jb oJ BO Et 5 2 A ServoStudio
134. KNLIV KLP 2 lt KLIV lt 2XKNLP KNLI KNLI KNLI PE HEU Sh 287 HD CDHD 288 12 21 Samples Samples 1000 Time Interval 18 31 25 us 500 0000 ms Trigger Setup Dir Up Down Level 1 I Pre Points 10 Record Variables sel X 100 200 300 400 500 m lo Milliseconds LC m Name Value Ur NL Adaptive Gain Scale Fac 1 000 z i NL Derivative Gain 150 000 S NL Proportional Gain NL Derivative Integral Gain ML Integral Gain 50 000 F v o 4 NL KF Spring Gain eer T iunii F PFB o 1 NL KF Spring Filter I NL Maximum Adaptive Gain L E 1 KNLI 50 Hz Scope m EI imp o ss Sa
135. Molex 436450400 4 0430300001 STO 8 218 CONr00000004 AS 26 28 AWG 3 8 2 24V 400 480 24V P2 24V 3 15A 3 20 24V 85 CDHD x 3 37 24V 1 24V 24V 2 GND 24V 2 3 38 24V Molex 436450200 supplied 2 0430300001 supplied available STO 2 208 CONr00000004 AS supplied 26 28 AWG 3 8 3 CDHD WAR RO l CDHD PE M4 199 3 21 2 L1 L2 L3 3 Bl 2 3 2
136. Connect o BroadcastingOn BroadcastingOff Syntax Operation Connect Syntax Variables Operation ScaleYTrace Syntax Variables Operation 9 5 BroadcastingOn BroadcastingOff Connect lt ComPortNum gt DrivelD lt ComPortNum ID Drive ID ID fi 33 1 COM33 ServoStudio J ScaleYTrace Name lt TraceName gt Y 249 CDHD 1 k opmode 0 VELCONTROLMODE 0 acc 5000 dec 5000 kvp 1 kvi 0 en record 16 1000 vcmd v iq rectrig imm j 500 itDelay 200 jo itDelay 200 k itPlot 2 250 Toggle out txt script input7 input7 1 output4 6 Print Digital_outputs_init outmode 40 outmode 5 0 outmode 6 0 outinv 4 0 outinv 5 0 outinv 6 0 Print
137. Z JI 58 27 38 CH Te 7T ER Taj CDHD n42 015 n42 Th 015 T xh f f 15V E 15V 221 CDHD 0 15 05 222 0 15 Th 15V 8 tH M 15V 5V iE HS El 5V CDHD P T xh Definition Type Active
138. gt W FPGA E E FPGA FPGA CDHD F F ABA IL MIFOLDWTHRESH IFOLDWTHRESH F1 z 211 302 w 12 07 CDHD F2
139. 12t Current Foldback Drive Foldback Drive Foldback Current Limit Drive Continuous Current Drive Foldback Fault Threshold Drive Faldback Warning Threshold 0 000 Drive Peak Current Motor Foldback Motor Foldback Current 24 T46 Motar Continuous Current Motor Foldback Fault Threshold Motor Foldback Warning Threshold Motor Peak Current Motar Foldback Delay Time Motor Foldback Time Constant Motar Foldback Recovery Time Motor Foldback 2 Disable Enable 5 25 ServoStudio 21 o Drive current foldback Drive peak F Warning threshold Fault threshold Drive continous Motor current foldback Current Motor peak k Warming threshold p 4 Ime Constant Fault threshold F 4 Motor caninos F b D giay Time i 137 JJ d Ru EL CDHD 5 11 1 VarCom IFOLD
140. 16 AWG 77 CDHD CDHD 008 CDHD 010 CDHD 013 JST J400 rRNS J43FSS 04V KX 4 SJ4F 71GF M3 0 14 AWG CDHD 020 CDHD 024 Phoenix Contact SPC 5 4 STCL 7 62 1718504 B 10 11 AWG 3 7 3 78 120 240 ES 85 AZAA 1 115 73 AIk CDHD 020 024 85 E 4E LIE E 12 P5 CDHD 1D5 CDHD 003 B5 E LITE L15 36 7 BARMA FELT 1 B1 B2 a 3 15 CDHD 006 3 30 CDHD 1D5 CDHD 003 CDHD 4D5 CDHD 006 CDHD 008 CDHD 010 CDHD 013 P3 1 B1 2 B2 CDHD CDHD 020 CDHD 024 P5 1 B2 2 B1 3 31 2 AERIS 2 CDHD 4D5 CDHD 006
141. PFBOFFSET VarCom DIR MPHASE DIR 0 1 DIR 1 0 e MPHASE 180 Y CDHD Disable Mode start Active Disal Int
142. 182 6 14 1 PD mH mmm 182 6 14 2 PDFF pp 183 6 14 3 PP 183 6 144 RR RR Rt Mtt 185 CDHD SINE TACUIT UTEM 185 B5 Sor E uu uu nanas a E PEE d 185 6 152 HD Ez u u u bet t Bo MON U S DI 186 ol NCC 187 6161 DT onun sasa qaa za 187 Mov L BIS 189 6 16 3 r 195 6 164 VarCom 7 197 7 198 198 7 2 199 73 amp Ne 199 7 4 7 7 200 7 5 201 8 _ __ _ _ ______ 22L L2 L LLL LL LLL LLL LLL LLL LLL 240 240 82 silo DC Em 240 3 E ea E E 241 242 243 244 9T Servostudio EIA u uuu u u u asa nt naha ya Domitio eg vede 244 9 2 244 oo HP 244 OM c RERUM 245 9 4 1 246 JAD rc 247 Hmc 248 95 249 10 _______________________________________________ 254 TO
143. B1 2 A 16 8 16 8 23 9 47 47 33 W HF 410 410 820 VLOW VDC 770 770 770 VMAX VDC 780 780 780 24 VDC 23 5 23 5 23 5 mA lt 2 lt 2 lt 2 A 1 3 1 3 1 3 ms 20 20 20 ms 20 20 20 2 2 3 2 6 CANOpen USB RS232 Kit 28 X lt X lt HD 3 PWM 31 25 us 32 kHz
144. THERMCLEARLEVEL 0 6 13 Current Loop WM rui romam _ cy Nominal Proportional Gain KcBemf Motor Bemf Velocity Constant Nominal KCFF t P 1 w Current Command A Current Feedback 6 24 ServoStudio Current Loop Screen N 181 CDHD 6 14 4 0 PI 1 PDFF 2 5 HD Velocity Loop Velocity controller method 1 PDFF Controller Current Feedforward Feedforward ratio 0000 Output Filter Velocity IN a 53000 000 Integral Gain Froportional Gain disini Deceleration limits Parameter 1 ERR 53000 000 remis
145. VarCom DISTIME VarCom DECSTOP VarCom DECSTOPTIME 173 CDHD VarCom ISTOP 0 1 VarCom ILIM ESTOPILIM 6 9 1 OPMODE 0 OPMEODE 1 174 6 14 1250 10004 750 500 250 0 250 0 250 500 750 1000 1250 1500 Milliseconds s 6 14 6 15
146. 1 1 4 2 ServoStudio 1 4 3 3 2 ServoStudio 3 ServoStudio 4 Global Gain Sms HD Derivative Gain 0 200 HD HD Proportional Gain 0 400 HD HD Integral Gain 0 200 HD HD Derivative Integral Gain 0 400 HD HD Current Filter Notch Filter Center NLNOTCHCENTER 100 8000 HD HD Current Filter Notch Filter Bandwidth NLNOTCHBW 0 500 HD KNLUSERGAIN HD CDHD 5 1 HD Current Filter 9econd Notch Filter Center NLNOTCH2CENTER 100 8000 HD HD Current Filter Second Notch Filter Bandwidth NLNOTCH2BW 0 500 HD HD Current Filter Low Pass Filter Rise Time NLFILTT1 0 30 HD
147. VarCom SININIT VarCom SINPARAM Y H 11 3 VarCom SINITST 5 8 1 MENCTYPE CONFIG MENCRES CONFIG MENCRES 4 fi CDHD A B LED r4 129 DK 25 E ETAS HALLS Hall 000 111 7 ER LED m r6 Index Index
148. 10V 10V 10V ANINTOFFSET 5 10V 5V j 10mV 5V ANIN1OFFSET 1 VarCom ANIN1DB ANIN1DB 0 6 600 mV 600 mV ANIN1DB VarCom ANINTLPFHZ CDHD ANINTLPFHZ ANINTLPFHZ VarCom ANINT CDHD JJ B
149. 26 68 12 25 xk 3 18 EnDat 2 1 IE 2 MAA 1 14 2 15 9 22 10 23 11 24 26 XU XU XU SSI Data SSI Data SS Clock SS Clock Sine Sine Cosine Cosine 5 5 12 25 CDHD 3 19 Nikon 17 WARK i Serial Data 25 14 Serial Data 11 5 24 5 26 Bt isum 12 25 3 20 R Nikon 17 WARK Serial Data 25 14 Serial Data 11 5 24 5 26 BE istum 1 3 6 ithium ER3V 3 6V 1000mAh 12 25 UJ 3 21 ZEJI 17 WA
150. CLEARFAULTS Description Command Name VarCom Min Max Value CANopen Index CANopen ServoStudio VarCom 95 ServoStudio CDHD Motion Profile Velocity Acceleratin ACC Deceleration The acceleration value for J jog and STEP commands 4 3 RRE KARE 4 1 4 ServoStudio 10 10 00
151. Lies mmm 140 VOL us NER T T 142 5 AE N E A E 143 5 15 5 16 5 17 5 18 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 143 5142 PRIMI TEE 145 5 143 Lesser 146 ET T RT 147 ee a 149 5 16 1 nn 149 150 5163 RETE w 150 ld 151 OOOO 152 IDEEN 156 156 157 159 AE e a 160 161 y IBS Lom MU mI E I UI 622 ALERTE ME 162 G6 A 163 6 6 2 Ne 164 663 PJ A DB oa v Eee aud Ha uba esa 168 664 ao Nr 169 FPD SE r Dat 169 67 oU 171 672 IU 171 SE A 171 171 0675 171 GAGE 172 GT Jan ar r a e E E 172 172 es SPENT ER 172 e a a E 174 177 a a 178 FE pM ise i 179 Aa E E E a E a E A ET 180 i ITL a aga 181 ib P NER
152. RAM TXT SSV Notepad ni RAM csv txt ind DL ZEE ServoStudio CDHD SAVE LOAD RESTOREDEFAULTS ServoStudio RAM CDHD
153. ServoStudio CAN scope E COEM EJ 75 x PTPVCMD ja y Y 50 a 25 0 50 100 150 200 Milliseconds Motion Terminal Parameter Table Measure Script Operation Mode 8 Position Position Motion Target Position Cruise Velocity Command Alternating 5000 counts 450 rpm Absolute Incremental cceleration 52000 000 Deceleration Copy Acc To Dec eos 52000 000 rpm s 6 32 ServoStudio 6 16 1 Samples Samples 1000 Time Interval 8 x 31 25 us 250 0000 ms Trigger Setup Name Dir Up Down Level 1 Pre Points 10 Record Variables Select Name X 0 1 PCMD 0 1 PTPVCM 0 0 14 0 1 ICMD 0 1 IQ 0 1 VCMD 0 1 v V 0 0 14 PFB 0 1 0 1 CDHD 2000 6 32 3 64
154. il ER F pM n 3 7 CAN Kvaser CAN High CAN Low Functional Ground CAN Shield 1 PLC ERAS PC 2 CAN 3 DB9 RJ45 CDHD RJ45 1 7 2 2 3 3 4 5 5 6 mms RJ45 0 Functional Ground 71 CDHD 1 120 CAN DB9 RJ45 2 09 RJ45 D 3 CDHD CANopen CDHD CANopen Wl EtherCAT PROFINET 1 XML Servotronix 2 RJ45 C5 e C6 EtherCAT 3 8 EtherCAT XT CANopen CDHD CANopen 2227 3 6 5 CDHD
155. 0 J CDHD MPHASE DIR 1 N 2 115 Jb oJ is BO E CDHD 5 Flash 1 Flash rh 2 Huh 5 4 ServoStudio Communication C
156. Arms 1 5 3 Apeak 2 12 4 24 2 Arms 4 5 9 2 Apeak 6 3 12 72 120VAC kVA 0 28 0 44 240 VAC kVA 0 37 0 74 PWM kHz 16 16 BON BGB Fa ift A 7 7 ms 350 350 W W 5 5 W kg 0 7 0 75 PE M4 1 35 Nm M4 1 35 Nm AWG 3 24 28 24 28 AWG 18 18 AWG 18 18 PE M4 M4 mm 15 15 mm 50 50 21 CDHD CDHD 1D5 CDHD 003 120 240 VAC E VDC 100 100 VDC 420 420 C 80 3 596 80 5 C 100 5 100 5 C NA 45 B1 B2 A 6 3 12 7 Q 64 31 5 W
157. L1 J2 Definition Type Active disable Description Action required L1 Th PEMAX PEMAX Displayed in sequence Exceeded Maximum Velocity Error Fault Yes The position error PE has exceeded the position error limit PEMAX This fault disables the drive Change drive tuning to improve position tracking or increase PEMAX to allow a greater position error Ar CDHD L2 L3 L4 T xh T xh Ar Ei Ar PFB gt POSLIMPOS R POSLIMMODE 1 217
158. RECRDY RECING RECDONE GETMODE ASCI GET 197 JJ w 1 2 WI CDHD 7 1 198 4 Application name DEMO KIT Reporter Mame John Dae Phone Email Description After autotuning on 11 2013 Save report in Excel file Send report by email Create Report 7 1 Excel Excel Users owner Documents ServoStudio CDHD 7 2 7 3
159. kg 0 97 0 97 PE M4 1 35 Nm M4 1 35 Nm AWG 3 24 28 24 28 AWG 16 16 AWG 16 16 M4 M4 mm 15 15 mm 50 50 100 100 420 420 Yes Yes C 80 5 80 5 C 100 5 100 5 C 45 45 B1 B2 A 25 5 25 5 Q 16 16 W HF 1120 1120 VLOW VDC 380 380 VMAX VDC 400 400 x L1 L2 L1 L3 L2 L3 23 CDHD 2 3 120 240VAC CDHD 008 010 013 120 240VAC CDHD 008 CDHD 010 CDHD 013 VAC 10 120 240 120 240 120 240 L1
160. 4 1 3 2 STO a z gt N STO 2216 3 13 STO X 3 26 STO 1 24V STO 2 GND STO 3 24 4 24V 75 3 27 STO CDHD Molex 436450400 4 0430300001 STO 258 CONr00000004 AS E 26 28 AWG 76 CDHD 3 7 2 120 240 VAC 327220 627792321382 2 5 CDHD 020 024 H 719 12 AHAA n m 4 3 14 CDHD 006 3 28 1 PE 2 U U 3 V V 4 W H R 3 29 AHHA S Le BOE HERR CDHD 1D5 CDHD 003 JST J300 65 F32FSS 04V KX 4 9F3F 71GF P2 0 04JFAT SBXGF 18 AWG CDHD 4D5 CDHD 006 JST J300 F32FSS 04V KX 4 SF3F 71GF P2 0 04JFAT SBXGF I
161. P3 CDHD 020 024 P5 P3 P4 CDHD 020 024 23 P2 P3 AN 74 CDHD 3 7 1 STO N 120 240 VAC STO P1 EE STO Servotronix SIL 2 Pl d Cat 2 STO ER STO STO STO STO 24 STO STO
162. 30 VAC IEC60529 IP20 UL50 1 IEC60529 IP54 UL50 2 5VA 3 5 mA IEC61800 5 1 UL 508C PE PE 10 mm 600V 75 STO SIL2 Cat 2 STO
163. 304A 10PSAAAO3 SN Digital output 1 Digital input 2 CAN In CAN Out 1 DC Shield 3 Digitallinput 1 5 C5 RJ45 C6 RJ45 2 0 4 Equivalent encoder 22 Equivalent encoder CANH 3 RXD output A CANL 4 el 5 Equivalent encoder 23 Equivalent encoder L m output B output B 3 FGND RS232 Equivalent encoder 24 Equivalent encoder 7 e _ il NR E mom GND ISO s 7 A la Analog input 1 Analog input 1 10 gt Secondary encoder B Secondary encoder B 10 Ground Pulse input F Secondary encoder A dii 11 Pulse input 29 Ground Secondary encoder A Bso USB C1 Mini B STO Safe Torque Off 1 24 VDC STO enable Ground 24 VDC return 3 si Digital input 4 Digital input 5 7 Em Digital input 6 33 Digital output 2 16 Digital output 3 34 Analog input 2 Analog output Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug 24 28 AWG ML news i na I E Housing PN J43FSS 04V KX j 5 L 3 Secondary encoder Z 13 Secondary encoder Z T x i Deam Delos 19 24 VDC return Common output Common input 20 Fault relay 2 Mating
164. Round Svar 0 it SysValue lt l arName ServoStudio Min Max Pk Pk SLT OS RT fi itSysValue Svar MT 2 3 2 3 var itSysValue st SLT PTPVCMD PE st SysValue var OV VCMD V var SysValue var RT VCMD V var Plot Scope Plot CDHD SavePlotFile Syntax Variables Operation DownloadFirmware Syntax Operation itSavePlotFile lt ename itSavePlotFile S Vame Filename lt V arName CVS DownloadFirmware
165. VarCom ACC VarCom DEC CDHD 6 7 1 6 7 2 6 7 3 6 7 4 6 7 5 ACC DEC PCMD VarCom ACC DEC PCMD PFB 1 VarCom MOVEINC PFB 0 VarCom MOVEABS PCMD PE PEMAX
166. 12 5 Motion and Record Settings PTPVCMD ICMD PE PE 10 1000 16 KNLUSERGAIN NL 1 000 KNLUSERGAIN 0 300 1 000 CY r ms KNLUSERGAIN 277 HD CDHD KNLUSERGAIN 73 1 000 100 200 300 Milliseconds NL Adaptive Gain Scale Fac NL Derivative Gain 136 320 NL Proportional Gain 26 630 NL Daerivative Integral Gain 13 310 NL Integral Gain NL Spring Gain NL KIf Spring Filter 136 Maximum Adaptive Gain 2760 12 6
167. 27K 16 2K F 27K 10nF 18 a OC OC 27K 16 2 10 GND R3422 TRANSMITTER Py CU ANIN1 INPUT 10V ANIN2 OPTIONAL x 10V EQVIVALENT ENCODER OUTPUT DIELC I ION B lt XX uncrove 2 21 AP1 AF1 C2 MO PULSE A lt PULSE amp DIRECTION OR SECONDARY ENCODER 46 CDHD INPUT SOURCE MODE mwa 24 LL IN pee OR IN OX XC INPUT SINK MODE 9 6 K lt 24V IN COM OUT COMM 1 GET APT o OUTPUT SOURCE MODE FEE 24V OUTPUT SINK MODE LI m SW as OUT COM AA a a a a a 2 22 EC2 PN2 C2 2 1 0 Minh ANIN1 INPUT 10V LOW HIGH LOW ANIN2 OPTIONAL 10V A A B EQVIVALENT ENCODER OUTPUT DIRECTION B DIRECTION B PULSE amp DIRECTION BULL OR SECONDARY ENCODER PULSE A 47 CDHD 2 5 C3 1 0 CE gt n mn RLY2 IN 9 E co QNT Cu 2 5422 RECEIVER JIPULSE QO 5g h B iDIRECTION gt 5 12 eno Gg B DIRECTION SECONDARY ENCODER l5 a da p 2 OR PULSE amp DIRECTION D 2 OUT 6 4 5V Ds i 14 ND IO 24V 2 Q 24_RTN 2 23 AP1 AF1 2 C3 1 0 48 CDHD INPUT SOURCE MODE IN
168. 5V 3 3 1 250mA 4 Index E Index Index Index CDHD r18 r19 r18 T xh r19 A B 5V f 5V CDHD 250mA
169. CDHD L5 L6 218 Ar lt POSLIMNEG POSLIMMODE 1 Ar Ei PFB gt POSLIMPOS R PFB lt POSLIMNEG POSLIMMODE 1 CDHD n1 T xh T xh n1 T xh STO STO P1 STO f STO STO P1 E 219 CDHD n3 n41 220 n41 E
170. KNLP KNLP Samples Samples Time Interval x 31 25 us 500 0000 ms Trigger Setup IL E Dir Up Wt AKII P eem NE Level Pre Points Record Variables 100 200 300 Milliseconds PEMD 0 Motion Terminal Parameter Table Measure Script mi apenas Name Value NL KF Spring Gain 5000 000 NL Spring Filter 134 NL Maximum Adaptive Gain 2760 NL Torque Filter 2 5 NL Torque Filter 1 NL Match Center NL Notch BW Acceleration 0 12 13 KNLP 13 Hz 283 HD CDHD Scope F I T m IPRC E d 100 200 300 ADD Milliseconds Parameter Table Mame Value NL Adaptive Gain Scale Fac 1 000 450 000 NL Proportional Gain 25 0
171. data 15 MERDE B SSI clock 16 7 U ERV 18 AFI EC2 PN2 8V 19 sine 20 cosine reference 4 x 21 3 4 5 6 sine 7 8 9 sine 10 cosine 11 5 12 13 5V 60 x 22 E E x 25 26 reference sine cosine 5 8 BE ServoStudio ZE R CDHD 3 5 6 19 7 20 8 21 12 25 24 26 3 6 1 14 2 26 Sine 4 XU Sine x5 Cosine
172. x 1 2 3 1 lt 2 3 KJ 81 CDHD 3 34 F gt 5 3 CDHD 1D5 CDHD 003 JST J300 F32FSS 06V KX SF3F 71GF P2 0 O6JFAT SBXGF I C amp 18 AWG CDHD 4D5 CDHD 006 JST J300 F32FSS 05V KX SF3F 71GF P2 0 05JFAT SBXGF I 16 AWG CDHD 008 CDHD 010 CDHD 013 JST J300 JA3FSS 03V KX SJAF 71GF M3 0 14 AWG CDHD 020 CDHD 024 Phoenix Contact SPC 5 3 STCL 7 62 1718494 12 13 AWG CDHD 3 7 5 120 240 VAC CDHD
173. BEEN Pulse input 29 Ground 30 Digital input 4 32 Digital input 5 1 Digital input 6 33 Dgaopu3 9 Analog input 2 Analog output ems um N O O N STO Safe Torque Off 3 4 Mating Connector type Crimp we USB s Housing PN 436450400 PERI Mating Connector 3M Solder Plug Connector STX PN CONr1000004 09 C1 Mini B PN 10136 3000PE STX PN CONr00000036 01 4x Crimp PN 0430300001 3M Solder Plug Junction Shell STX PN PINr43030000 00 PN 10336 52F0 008 STX PN HODr00000036 00 Wired STO Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter STX PN CONr00000004 AS j i Motor Machine I F P2 JST J300 16 AWG C3 MDR 20 Plug 24 28 AWG 1 PE Functional Ground H Directoninpu Digital input8 Digital input 10 Digital output4 4x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 04JFAT SBXGF I STX PN CONr10000006 06 STX PN CONr10000004 13 Digital input 8 Digital input 10 Digital output 4 o Doom Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Regeneration P3 JST J300 16 AWG Bi DC Bus
174. VarCom VLIM CONFIG 5 10 3 DAEREHB Limits Position Limit Velocity Li mit Current Limit Position Error Maximum Position Error 4100 101 Counts Hardware Position Limits Positive limit switch input number 4 Negative limit switch input number 5 amp Software Position Limits Software Position Limit Mode 1 Enable Software Position Limit Minimum 1234557891 000 Counts Software Position Limit Maximum 0 000 Counts 5 24 ServoStudio VarCom PEMAX 10 VarCom LIMSWITCHPOS and LIMSWITCHNEG 0 1 VarCom POSLIMMODE VarCom POSLIMPOS and POSLIMNEG 136 JJ 5 11
175. Digital input 7 init inmode 7 0 CDHD ininv 7 0 Var Sout n Sout 4 While 1 gt 0 tlf in 7 lt 1 end_loop out out n1 Print outputs itDelay 500 out out nO out n out 1 ilf Sout n 6reset out n end loop Label reset out n Sout n 4 Label end loop End While 3 Toggle velocity txt input7 input8 IN7 IN8 V 0 010 1 O 200 0 1 200 1 10 251 CDHD 252 it Print Digital Inputs Setup inmode 7 0 inmode 8 0 ininv 7 0 ininv 8 0 input7 input8 var Sin state var Sin 7 itvar Sin 8 k opmode 0 en While 1 gt 0 input7 input8 Sin_7 in 7 Sin_8 in 8 2 Sin_state in_7 in_8 lf Sin state 0 jog zero If Sin state 1jog positive If Sin state 2 jog negative Label jog zero Print JOG zero jo end loop Label jog positive Print JOG plus 200 j 200 end loop itLabel jog negative Zn gt lt E CDHD Print JOG minus 200 j 200 Label end loop Delay 500 End While 4 pfbof
176. HD Current Filter Damping NLFILTDAMPING 0 100 HD HD Flexibility Compensation NLPEAFF 0 2000 HD HD Spring Filter NLAFFLPFHZ 10 7000 HD HD Maximum Adaptive Gain NLMAXGAIN 1 3 HD E KX Bia N SS 5 Open the ServoStudio Scope screen 6 ServoStudio 7 8 2000 50 75 1000 50000 276 CDHD HD 10 11 12 PTPVCMD CHDI Trigger Setup Hare Du Level Pre Points Varisblea Sel Motion Terminal Parameter Tabla Measure Script Operation Mode 8 Posbon PS Motom Command Abemating Z20000 counts 1000 rpm Abznlute Target Cruise Velocry ETENA 59 4 incremental 30000 000 Decaleragbon
177. VarCom PHASEFINDMODE VarCom PHASEFINDTIME VarCom PHASEFINDI VarCom PHASEFINDGAIN Index Index index VarCom INDEXFIND Index Index Index VarCom MENCZPOS index VarCom INDEXFINDST index index 6 A B Halls index Iw VarCom RESBW 7 VarCom MRESPOLES VarCom RESAMPLRANGE
178. Default Default 4 4 ServoStudio ServoStudio IntelliSense IntelliSense ServoStudio CAN CAN ServoStudio 97 ServoStudio CDHD All
179. VarCom HOMEACC VarCom HOMESPEED1 JJ s HG EL CDHD 513 Index aF RA RA 5 18 HD HD HD 152 index VarCom HOMESPEED2 VarCom HOMEOFFSET Fig VarCom HOMECMD FRA 0 IH RA 1 FI RA 2 3 AF AF Bisa 6 AF AF 10 RA 11 12 13 14 15
180. 75 100 Milliseconds 125 150 175 NL Derivative Integral Gain NL Integral Gain NL Kff Spring Gain 220 000 NL Kff Spring Filter NL Maximum Adaptive Gain 2 760 NL Torque Filter 2 75 L NL Torque Filter 1 1 200 NL Notch Center 12 25 290 1333 NLPEAFF 300 Hz CDHD Samples LE i Samples 1000 Time Interval 6 31 25 ys 187 5000 ms Trigger Setup Name IMM Dir Up Down Level 4 Pre Points Mo Record Variables Sel Name X 7 0 1 7 PCMD 0 PTPvchd 0 01 V 0 1 v cup 0 1 lQ 0 1 VCMD 0 P lo 1 E PFB lo 1 7 lo p Samples Samples 1000 Time Interval 6 31 25 ps 187 5000 ms Trigger Setup Name IMM Dir Up Down Level a Pre Points Record Variables Sel Name X 0 1 PCMD 0 4 Pmvcnd 0 0 01 PE 0 1 CMD 0 1 0 Ja VCMD 0 0 1 7 PFB 0 1 E 0 1 NLPEAFF 220 Hz CDHD Wizards Setup Wizard Tuning Wizard Drive Configuration Connection Drive Information Power Rating Motor Feedback Motion Units Limits Current Foldback Digital I Os Analog l Os Homing Disable Mode Enable amp Fau
181. FFT FFT Prev PTPVCM Prev PTPVCMD 193 CDHD FFT CSV Excel CSV PTPVCMD PE 20 Time Inti 6 35 lt PTPVCMD V 10 90 194 CDHD FE 6 36 V PTPVCMD
182. GEARMODE IF C2 GEARMODE 1 I F GEARMODE 4 24VDC PLC I F C2 32 5 15 6 6 9 PLC IF C2 e CDHD MAKEME EE 36 24 VDC MO 2 9 l 0 CDHD ES diues ANIN1 INPUT 10V RS422 TRANSMITER 4 gt gt C EQUIVALENT ENCODER OUTPUT RS422 RECEIVER a 9 i hb IRECTION B UE L Br dap rines PULSE amp DIRECTION OR SECONDARY ENCODER ULSEJ A T13HS HOLO93NNO2 6 9 ServoStudio
183. KNLP 0 0 400 Hz HD KNLI 0 0 200 Hz KNLIV 0 0 400 Hz HD NLNOTCHCENTER 100 100 10000 Hz HD NLNOTCHBW 0 0 500 Hz HD NLNOTCH2CENTER 100 100 10000 Hz HD NLNOTCH2BW 0 0 500 Hz HD NLFILTT1 9 0 30 ms HD NLFILTDAMPING 0 0 100 96 HD NLPEAFF 0 0 200000 Hz HD 38 S JE JX g NLAFFLPFHZ 7000 10 7000 Hz HD NLMAXGAIN 1 1 5 HD KNLD HD PID D e KNLP HD PID P HDC KNLI HD PID1 KNLIV HD HD PID P KNLD gt KNLP gt KNLIV gt HD e NLNOTCHCENTER
184. 254 102 I RD TILES 255 OAM RT TT mm 255 10 sn c 256 TO SR 256 T0497 Ja RIEN a 257 107 CPC 259 10 8 Us ue other er utente Beuth osa ott rotten 259 11 0 0 2 2 e ee oL LLLLLLLLLLLLLLLLLLLLLLLLLL 265 NEC od REPE 265 2 E a E E E E 266 HBOD SI URSI m 267 12 HD 0 2 2 2 LL LLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL 270 T21 HD ie PIE MER 270 2 273 12 3 275 E San hasa 279 13 292 13 1 CU I sh 292 IN V OT DT UL UP 292 Eg Te 293 TO oo CE 296 10 CDHD 1 1 1 1 1 1 1 1 2 CDHD ERRAK CDHD CDHD CDHD e CDHD e CANopen CDHD
185. 278 Samples Samples 1000 Time Interval 18 31 25 ps 200 0000 ms Trigger Setup Mame IM Dir i Down Level 1 Pre Points 10 Record Variables Sel Mame X m p v PcMD 1 PTPVCH 1 0 am h NE a 0 1 vewo Ey El PFB 0 1 0 CDHD HD 12 4 1 KNLD 2 R A 88 NLFILTDAMPING NLFILTT1 3 KNLD 4 KNLP 5 KNLIV 6 KNLI 7 NLAFFPHZ NLPEAFF 2 3 ServoStudio 1 KNLD 8 KNLP 9 KNLI KNLIV 10 KNLD ICMD ICMD lt 2 5 1096 279 HD CDHD Scope COEM Millise
186. ANINTOFFSET ANIN1 ANIN1 851847 23 10 10V 10V ANIN1OFFSET 5 10V 5 V 1 10mV 5V ANIN1OFFSET 1 VarCom ANIN1DB ANINTDB 0 6 600 mV 600 mV ANIN1DB CDHD VarCom ANIN1LPFHZ CDHD ANIN1LPFHZ ANINTLPFHZ
187. C 80 5 80 5 C 100 5 100 5 C 100 100 C 45 45 B1 B2 A 44 44 Q 8 4 8 4 W HF 3280 3280 VLOW VDC 380 380 VMAX VDC 400 400 L1 L2 L1 L3 L2 L3 X 2 5 400 480 CDHD 003 006 CDHD 003 CDHD 006 CDHD 012 400 480 VAC VAC 10 380 480 380 480 380 480 L1 L2 L3 Hz 50 60 50 60 50 60 380 480 VAC 3 3 3 CDHD CDHD 003 CDHD 006 CDHD 012 400 480 VAC 3 19 Arms 2 8 400V 5 7 400V 11 0 400V 2 3 480V 4 6 480V 9 2 480V FRN R LPN 10 10 16 1800 VAC 1800 VAC 1800 VAC 2520 2520 VDC 2520 VDC VDC P2 24 VDC 10 24VDC 10 24VDC 10 24VDC 10 STO ZE F kE YEN STO VDC 24 10 24 10 24 10 U V W Arms 3 0 6 0 12 0 Apeak 4 24 8 48 16 97 2
188. Drive Information Drive Name DEMORIT Drive Details Drive Settings Drive Model CDHD 0062A AF 1 00 Drive Peak Current 25 4 A 18 Arms Serial Number 111F 00182jy June 2011 Drive Continuous Current 84 6 Arms Fi Versi 120 Feedback Type Incremental encoder A amp B Halls Tamagawa irmware Version is Control Board Version 07 Power Board Version 15 FPGA Version 1 40 Download Firmware 5 12 ServoStudio 15 Axis 1 CDHD DRIVENAME FPGA CDHD INFO VarCom DIPEAK VarCom DICONT VarCom FEEDBACKTYPE CONFIG j X ServoStudio CAN
189. ENCOUTZPOS index 1 VarCom ENCOUTMODE 0 1 Index Index Index 2 Index per feedback Index FPGA Index VarCom VarCom MENCRES VarCom HALLS VarCom 15 EREE UVW VarCom HALLSINV CDHD Jp sj VarCom PHASEFIND
190. VarCom RECORD Z amp EZ HJg LRE E T FE 22 3 RECORD 32 100 VCMD V ICMD amp 1 188 gpw RES VCMD V 4H ICMD 100 CDHD VarCom VarCom RECTRIGLIST IMM CMD RECTRIG 0848 HE BA RRE J REE 1000rpm 0 10000rmps s 1rpm 128 0 6 16 2 E TS
191. WR MSGPROMPT E CHECKSUM 10 2 r ra c o 8 e 1 e 1 115200 bps RS 232 USB 10 3 RS 232 C7 RS 232 C8 k USB C1 10 AAE FE RS 232 C7 0 0 0 RS 232 C8 1 99 0 RS 232 USB
192. 281 HD CDHD NLFITT1 ICMD Scope 3000 PTPVCMD 100 200 300 400 Milliseconds Name Value NL Spring Gain 5000 000 NL KF Spring Filter 134 ML Maximum Adaptive Gain 2 760 NL Torque Filter 2 75 NL Torque Filter 1 0 500 NL Notch Center 1333 NL Notch BW 50 Acceleration 50000 000 12 11 NLFILTT1 0 5 ms Scope E arm JI PTPVCMD HE x CMD PE ICMD 100 200 300 400 Milliseconds 12 12 NLFILTT1 1 2 ms 282 Samples Samples Time Interval x 31 25 8 Trigger Setup Dir Up Level Pre Points Record Variables Sel Name F 0 PTPVCH 0 z 20 0 05 ms OO Samples Samples Time Interval 31 25 Trigger Setup Dir Up Level Pre Points Record Variables Sel Name 1000 500 0000 ms lN Down hoo LEM x CDHD HD KNLD NLFILTT1 NLFILTDAMPING KNLD 1 KNLP KNLP PE
193. Detail Level Log File Minimal 5ervosSstudio Version 1 4 0 2 4 7 ServoStudio ELE ServoStudio ServoStudio ServoStudio ServoStudio ServoStudio 7 57 7 FII ServoStudio tirs BAT T I rh 7 57 7 AAE ServoStudio
194. UNITSROTACC CDHD Jp Js CANopen VarCom UNITSLINPOS 5 UNITSLINVEL UNITSLINACC CANopen 2 CD HD 4 ServoStudio 4 PNUM VarCom PDEN CANOpen VarCom FBGDS 5 CANOpen VarCom FBGMS PNUM FBGMS X PDEN FBGDS Resolution CDHD CANopen EtherCAT 133 DESIT Et CDHD 5 10 5 10 1
195. lt LF gt lt DLY gt 262 Souls 21 22 23 3 gt gt IMAX 3 gt 15 697 3 gt Fh f5 Beds dn 8 CDHD ADDR 0 CHECKSUM 1 ECHO 1 MSGPROMPT 1 18273 25000 ACC 1 2 3 4 5 6 7 8 9 10 A C C 2 11 12 13 14 15 16 17 18 19 20 5 0 0 0 lt 5 0 0 0 lt 21 22 23 24 25 26 27 28 29 30 31 F B gt lt CR gt F B gt lt CR gt gt 263 JJ as tb ED CDHD 264 A 41 C 43 C 43 3D 2 32 5 35 0 30 0 30 0 30 ASCII 65 67 67 61 50 53 48 48 48 ChecksumzOxFF amp 0 41 0 43 0 43 0 3 0 32 0 35 0 30 0 30 0 30 OxFF amp 0x01FB OXxFB lt CR gt lt gt setting the checksum gt CHECKSUM 1 sending command to the drive with checksum appended gt ACC 25000 lt FB gt checking the actual value stored at the drive gt ACC the reply is appended by checksum 25000 000 rpm s 7E gt CDHD 11 11 1 ZIBIN dm 11 1
196. 1500 VAC 2121 1500 VAC 2121 VDC VDC L1C L2C 120 240 VAC 1 1 120 240VAC A 0 5 0 5 STO ZE R YEN STO VDC 24 5 24 5 STO 24 VDC 10 A 1 5 1 5 U V W A rms 20 24 A peak 28 28 34 93 2 A rms 48 48 2 A peak 67 88 67 88 120VAC kVA f amp 3 3 5 240 VAC kVA 5 6 PWM kHz 8 8 A 15 15 ms 1000 1000 W 25 26 CDHD CDHD 020 CDHD 024 120 240 VAC W 5 5 W kg 3 2 3 2 PE M4 1 35 Nm M4 1 35 Nm AWG 3 24 28 24 28 AWG 12 12 AWG 12 12 PE M4 M4 mm 5 5 mm 50 50 VDC 100 100 420 420 Yes Yes
197. 204 Th Th T xh RA H 2 RA H 2 CDHD A4 At1 T xh A4 T xh At1 T xh 2 H E CAN E E CAN 5 205 32 w 12 07 CDHD At2 206 At2 Th T xh KCP KCI KCFF KCBEMF 6 1
198. B 6 Z Z 24 Z Z 7 25 8 MEMA 1 10VDG 26 1 10 VDC 9 27 HHA B B B B 10 28 A A A 11 29 A A A 12 30 13 31 3 IN3 14 4 2 5 IN 4 IN 5 15 6
199. CAN EtherCAT CANopen 1 2 CDHD 1 1 CDHD 006 2A AP 1 Peek 1 Omandboii ibi 2 Two analog inputs 14 bit each CDHD Servo Drive HD Series 120 240 VAC Cont Peak Arms rms 1 5 4 5 Interface Options Analog Voltage Pulse Train Ref USB 5232 Analog Voltage Pulse Train Ref CANopen USB RS232 EtherCAT USB RS232 PN PROFINET USB RS232 PWM Power Block Standard configuration with one analog input Standard configuration with two analog inputs PWM power block does not have analog input option 400 480 VAC Cont Peak A rms rms Input Single Phase 120 L L VAC 10 1596 50 60 Hz Input Single Phase 240 L L VAC 10 1596 50 60 Hz Input Three Phase 120 240 L L VAC 10 15 50 60 Hz AC Input Power Supply AC and Controller Input Power Supply Input Three Phase 400 L L VAC 10 15 50 60 Hz Input Three Phase 480 L L 10 15 50 60 Hz 24 VDC input for control board power supply 11 EDS 1 1 CDHD CDHD 006 2A AP 1 CD Servo Drive Rating AC and Interface Analog HD Series Controller Options Input Input Power Sup
200. IntelliSense IntelliSense ServoStudio CAN CAN ServoStudio k 4 4 ServoStudio 102 CDHD ServoStudio Basic Preferences Advanced Startup Default Screen Drive Information Show Splash Screen On Off Language Select Language ENG Set Language Runtime Options Auto Save Script v Auto Save Watch List v Auto Save Record Variable List Turn On Intellisense In Terminal 7 Turn On Intellisense In Script Font Size in Script Medium Font Size Terminal Medium
201. LS MEE uec 96 CDHD 96 3 96 4 3 1 C MEET MI T TR 97 4 3 2 I a DAMM LM 98 LX ME DON IRURE 99 AA 102 45 ServoStudio E CAN mm EDS R uuu aaa ett be E v o vk Re Ve un tA eda 104 5 106 106 5 1 1 106 5 1 2 EE SS r A A E 106 110 52 DE I SEM 111 03 114 SA R E N A E E E E E E A 116 SAT AEA e 116 5 4 2 PE E oa 117 543 u CANopen B ili k uuu l trad ter US aQ 118 55 RR UT T 120 50 Dub Hp 121 57 UL vu PT A aaa 121 5 7 1 PE uuu a masqa 122 NS 2 e E E a a rE 123 573 AILES n ee ao 123 5 126 E ioc ERE 129 SOUMETTRE 130 S503 ghe bs BS 130 584 UU 0 S Dum 130 SE occu Emme 132 SAUEUOILOI akha 134 STON RO 134 5102 EP i nomm 135 5 103 ME RE 136 ST Mi H Ee M e d LP Ue TN EI EE 137 STT CUL SUD DC a 138 SIR T UU T 138 S12 AFO mr 138 5121 MASTAA 139 5 12 2
202. STO STO CDHD 1 4 In compliance with IEC 61800 5 1 In compliance with IEC 61800 3 In compliance with EN 50581 In compliance with UL 508C In compliance with REACH 1 5 FEHR CDHD 1l Low Voltage Directive 2006 95 EC Adjustable speed electrical power drive systems EMC Directive 2004 108 E Adjustable speed electrical power drive systems Support Essential Requirements of EU RoHS Directive 2011 65 EU Directive on the restriction of the use of certain hazardous substances in electrical and electronic equipment TOV Rheinland certification Power Conversion Equipment EC Regulation 1907 2006 Regulation on chemicals and their safe use 2 15 16 2 2 1
203. 17 Phase Find Mode 2 OK 18 Over Cument Fault 19 Over Voltage Fault 20 LUnder Voltage Fault 2 Phase Find Failed 22 Mam w o Phase Find Failed VarCom OUTMODE CDHD 25 1 C C2 M C3 F VO 5 14 CDHD 16 14 OPMODE 1 OPMODE 3 SBEBRI T MEHRI Analog lOs Analog Input 1 Analog Input Set to Zero Analog output Analog Input 2 Analog Output Mode D User Command Y Anin 2 Mode D Idle k Analog Output Value 0 000 V Analog Input 2 Filter 1000 Hz Analog Output Command 0 000 b Analog Input 2 Offset 0 000 V Analog Output Current Scaling 0 000 AI Analog Input 2 Deadband 0 000 v Analog Output Voltage Limit 10 000 V A
204. CDHD VarCom XENCRES VarCom GEARIN VarCom GEAROUT VarCom ACC VarCom DEC 6 6 2 Pulse and Direction PCMD ICMD Position Position Current PLC Command Command Command e e Current m i Loop Feedback Gear Block 6 8 HWPEXT PFB PE HWPEXT PFB
205. Command HD Control Command Encoder Anti Vibe I rrect Control Detect Narrow Band Corrective Perturbations Corrected gt Control Variables Perturbation Pass Output Damping Gain Ele NLANTI VI BHZ NLANTI VI BSHARP Parameters NLANTI VI BGAI N 13 1 CDHD 1 2 NLANTIVIBHZ and NLANTIVIBSHARP 3 4 NLANTIVIBGAIN 13 3 ServoStudio 1 1 4 2 ServoStudio 1 4 3 3 2 ServoStudio 3 ServoStudio 4
206. L2 L3 Hz 50 60 50 60 50 60 120 240 VAC 3 3 3 1 19 3 Arms 5 8 10 FRN R LPN s 10 10 15 1500 VAC 1500 VAC 1500 VAC 2121 VDC 2121 VDC 2121 VDC L1C L2C 120 10 240 10 VAC 120 240 VAC A 0 5 0 5 0 5 STO ZE R UIT STO VDC 24 10 24 10 24 10 STO 120 240 VAC A 1 5 1 5 1 5 U V W A rms 8 10 13 A peak 11 31 14 14 18 38 2 A rms 28 28 28 2 A peak 39 56 39 56 39 56 120VAC kVA f amp 1 1 1 3 1 7 240 VAC kVA f amp 1 7 2 2 2 8 PWM kHz 8 8 8 A 15 15 15 ms 350 350 350 W W 5 5 5 W kg 1 15 1 15 1 15 PE 4 1 35 Nm M4 1 35 Nm M4 1 35 Nm AWG 3 24 28 24 28 24 28 AWG 14 14 14 AWG 14 14 14 PE M4 M4 4 mm 15 15 15 mm 50 50 50 100 100 10
207. PRI 52 3 3 3 nre B kau UE 53 DP MEE DELIS 54 55 3 3 6 TR 55 33 7 RE 55 34 SHOE 2 a 55 3 4 1 BITA RR 55 3 4 2 l jun 56 34 3 RCD nn 56 cc 56 3 900 X lt E 56 352 56 30 56 3 6 1 Errant X EET 57 302 58 3 6 3 m 59 o en 70 3652 72 3 6 6 SN TE AAEE A E I E A E EE E EEE AETA E AEE N EET 73 74 37 120 240 74 TO 75 372 UE ES NER 77 ede 428085 Ec 78 c 80 3 7 5 uuum 83 3 8 400 480VAC eee nene 84 3 8 1 MOT oe AE A 84 38 27 2V AMMA aana Ce sua y uu a E una ya 85 3 83 86 394 APE E 88 3 85 BE este E EU eo ee a 90 c cuoc CT 91 KNEES o rH 91 Servostudio 0 0 0 0000000022222 222 LL LLLLLLLLLLLLLLLLL 92 A A 2 EUM 92 4 1 1 uuu ER 93 AF2 S coge C 94 95
208. V cup 1 7 Q 0 1 0 1 0 1 0 0 1 Samples Samples 1000 Time Interval 6 31 25 Us 187 5000 ms Trigger Setup Name IMM v Dir Up Down Level 1 Pre Points 10 v Record Variables Sel Name x E 0 1 7 PCMD 0 1 0 0 01 1 T r PE 0 1 lo 1 0 1 0 1 iv 0 1 0 1 T 0 1 NLPEAFF 100 Hz 291 CDHD 13 ServoStudio 13 1 HD fi
209. lt lt C C al s a mu ma ma mu 2 5 12 25 A B Z C3 CA CDHD 3 92 CA amp A B Z JT TAERA 1 C4 x5 A 14 C4 A e lt 15 C4 B SOCA aui _ 16 C4 Z 1 C3 U 11 C3 K U 2 C3 R V 12 C3 7R V 3 C3 R W 13 C3 t W 12 C4 W 25 C4 11 C4 5 24 C4 5 26 C4 3 12 25 K 3 10 2 U 22 U 10 R V 23 V 3 R W 16 k W 12 W 25 11 5 24 5 26 BE gt Win 12 25 63 CDHD 64 3 10 MARA Hall U
210. 162 4 VarCom J VarCom STEP VarCom VarCom DEC CDHD CDHD PLC Motion Operation mode 4 Position Gear Multiplier Eternal input F 4 m Engaged 2d Position Command Gear Input Controller Controller Machine HF R5422 Opto Isolated R542
211. 2 Input 11 0 idle z 5 27 ServoStudio 9 Script 5 e 10 5 Bit 0 11 Script Bit 1 e 12 Script Bit 2 e 13 Script Bit 3 e 14 Script Bit 4 ID 140 CDHD Jk Jd MO gt Drive Script Number 4 5 6 7 8 InputTrigger Script Commands SendAl gt opmode 2 Sending opmode 4 Sending Falling Sending Falling Sending Falling Sending 5 28 ServoStudio 1 0 ID 3 0 1 CET 4 F WA 5 6
212. 31 www Refer to ordering information Crimping tool Molex 0638190000 P1 P2 3M Solder Plug Junction Shell 52F0 TX PN HOD 26 CAN and EtherCAT models only 4 40 insert threads on C2 C3 C4 PN 0326 52F0 008 S ODr00000026 00 EtherCAT models only Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Highlighted PN Supplied with CDHD 2 18 400 480 VAC CDHD 003 006 51 EX 43 CDHD 2 3 6 400 480 CDHD 012 Mains amm Ce Three Phase Max 528 VAC L L Daisy Chain RS232 Circuit Breaker PIPIS EtherCAT OUT or CAN IN Rotary Switches STO Drive addressing Safe Torque Off Line Filter Connect to VDC optional power SR or use bypass plug Logic PS 24 VDC 3 5A Magnetic 8 Contactor lt Connect to PC USB mini B cable j x Machine UF Connect to Host Controller Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs 1x analog output Regenerative Resistor optional Connect to Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Functional Ground Motor Feedback Motor Power Motor Brake 24 VDC 1 3A max Internal 470 300W For higher power external regen resistor is required refer to the user manual Refer to EMI Suppression in the user manual 2 19 6
213. 400 480 VAC 3 fH CDHD 012 44 CDHD Controller I F Daisy Chain C2 MDR 36 Plug 24 28 AWG C8 0 1 IDC Female EtherCAT In EtherCAT Out 24 VDC return 24 VDC NELTRON 4401 10SR 5 4 OXO adi t C5 RJ45 C6 RJ45 E Common output Common inpu j 9 OR OR STX PN CONr00000010 67 Digital output 1 Digital input 2 CAN In CAN Out DC Shield Digital input 1 I 4 Equivalent encoder 22 Equivalent encoder gt oO CANH CANL FGND 2 5 Equivalent encoder 23 Equivalent encoder output B output B Equivalent encoder 24 Equivalent encoder output Z output Z4 oom 8 Analog input 1 Analog input 1 Direction input Direction input Secondary encoder B Secondary encoder B 10 Ground Pulse input al Secondary encoder A 30 31 36 RS232 4p4c ND ISO 1 2 3 4 5 6 7 FGND FGND STO Safe Torque Off IE Mating Connector type Crimp e mox olo Secondary encoder A 11 12 13 Ground Digital input 3 14 14 Digital input 4 Digital input 5 Digital input 6 Digital output 2 Housing PN 436450400 d 17 35 Analog input 2 STX PN CONr1000004 09 Ms 18 Analog input 2 36 Analog output i 4 1 REEL ad Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 Wired STO 3M Solder Plug Junction
214. 7 8 OPMODE 2 3 1 0 OPMODE 8 ID 1 4 1 1 ID 21 1 4 3 6 5 A8 BD 1 4 8 21 IN ID ID 64
215. A B 90 A FS MENCAOQBFILT 0 A B HALLSTYPE Nn Hm Is CDHD t1 t2 t3 t2 Th t3 T xh E IPM phin Fm
216. AWG 1 1 AC Phase 1 2 L2C ACPhase2 Mating Connector type Crimp Housing PN FS2FSS 02V KX STX PN CONr10000002 10 2x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 1 12 Functional Ground PE Terminal 4 4 ring or spade terminal Refer to ordering information Crimping tool Molex 0638190000 P1 PN 10126 3000PE STX PN CONr00000026 31 Crimping tool YRF 1130 P2 P4 YRF 1070 P5 3M Solder Plug Junction Shell CAN and EtherCAT models only PN 10326 52F0 008 STX PN HODr00000026 00 Extraction tool EJ JFAJ4 P2 P3 Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter EJ JFAJ3 P5 4 40 insert threads on C2 C3 C4 EtherCAT models only Highlighted PN Supplied with CDHD 2 14 CDHD 008 010 013 39 2 3 4 120 240VAC 020 02415 Z 4b 2 8 Mains Three Phase 120 240 VAC L L Daisy Chain RS232 EtherCAT Circuit Breaker ECL or CAN or Fuses IN Rotary Switches Drive addressing Line Filter optional STO Safe Torque Off Connect to E 24 VDC u power supply 5 or use bypass plug Magnetic SS Contactor N E Connect to PC USB mini B cable Machine Connect to Host Controller Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs 1x analog output Regenerative Resistor optional Connect to Add
217. Cosine Reference XU Reference x5 12 25 A B Z xus Z A Xu B xus 2 Z RU R V W 5 5 1 2 12 25 61 CDHD 62 3 7 4 17 5 11 24 26 3 8 1 14 2 15 9 22 10 23 3 16 12 25 11 24 26 MERR 1 RU R V ERW 5 5 pci 2 12 25 A B KARA XU XU XU A A B Ww ST wr
218. E 11 12 13 14 15 16 17 18 19 20 S CR S CR LF lt DLY gt 2 SP p 21 22 23 24 25 26 27 28 29 30 31 CR LF lt DLY gt gt gt MPOLES 2 poles gt 5 ACC 50000 1 2 3 4 5 6 7 8 9 10 A C C 5 A C C 5 11 12 13 14 15 16 17 18 19 20 0 0 0 0 lt CR gt 0 0 0 0 lt CR gt 261 CDHD 21 22 23 24 25 lt LF gt lt DLY gt gt gt ACC 50000 gt 6 7 CDHD ADDR 3 ECHO 1 MSGPROMPT 1 6 ADDR 0 99 0 1 2 3 4 5 6 7 8 9 10 11 3 lt CR gt 3 CR lt LF gt lt DLY gt 3 gt gt 3 3 gt 7 IMAX 1 2 3 4 5 6 7 8 9 10 M A X CR M A X CR 11 12 13 14 15 16 17 18 19 20 lt LF gt 1 5 6 9 7 CR
219. ISOTEK ULV600 N 33 K FL500 ISOTEK ULV1000 N 33 K FL500 ISOTEK ULM2000 N 33 K FRIZLEN FGFKU3100602 33 FRIZLEN FGFKU3100802 33 5 PLC D9 CAN D9 RJ45 RJ45 D9 11 1 D9 RJ45 9ervotronix PN ADPrCAN_D9 RJ45 CDHD 268 11 2 D9 RJA45 zx 11 4 D9 RJ45 CDHD RJ45 CAN 1 CAN 2 3 CAN 6 7 D9 7 2 3 o Q CDHD 269 HD CDHD 12 HD ServoStudio 12 1HD 270 HD HDOQ ServoStudio
220. LE 6 29 HD VarCom VELCONTROLMODE 5 6 15 CDHD PID 6 15 1 PID 185 MU CDHD Position Loop Position controller method 0 Linear Acceleration Feedforward to Current Loop 0 000 Acceleration Feedforward to Velocity Loop 0 000 Velocity Feedforward 0 000 Proportional Gain 2 x velocity Limit 47 434 1 000 rps res Position Error 0 000 faat 0 Bi 0 000 Velocity Command Adaptive Proportional Gain 0 000 Position Feedback 4 000 Counts Integral Gain 0 000 Hz T Saturation In 2200 000 rev T Saturation Out 0 000 6 30 ServoStudio Position Loop Linear Screen 6 15 2 HD HD Position Loop Position co
221. Regen Bus Veg h x DAP Mating Connector Type Crimp Housing PN F32FSS 02V KX STX PN CONr10000002 10 2x Crimp PN SF3F 71GF P2 0 STX PN PINrSF3F71GF 00 Mating Connector Type Spring Not available Machine MF Feedback C4 MDR 26 Plug 24 28 AWG 1 Incremental encoder 14 Incremental encoder A SSI encoder data SSI encoder data 2 Incremental encoder Incremental encoder B AC Input P4 JST J300 16 AWG SSI encoder clock 5S1 encoder clock 3 Incremental encoder Z 5 Hall W 18 8V supply Mating Connector Type Crimp 6 Resolver sine eum 7 Resherconme 5x Crimp PN SFSF 71GF P2 0 8 Resolver reference STX PN PINrSF3F71GF 00 Mating Connector type Spring PN 05JFAT SBXGF I STX PN CONr10000005 04 Functional Ground PE Terminal 4 M4 ring or spade terminal 10 Sine encoder Sine encoder cosine 5V supply 24 Ground 5V 8V return Motor temperature 25 Motor temperature sensor sensor 13 5V supply Shield Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 Refer to ordering information TU CAN and EtherCAT models only Servotronix Key for spring Supplied with CDHD connector 4 40 insert threads on C2 C3 C4 3M Solder Plug Junction Shell PN 10326 52F0 008 STX PN HODr00000026 00 M
222. Shell SA PN UONTODDDOOQA AS PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Logic Power 24V Input P2 Molex 26 28 AWG 24 VDC logic in Ground 24 VDC return Machine I F C3 MDR 20 Plug 24 28 AWG 1 Secondary encoder A 11 Secondary encoder A Mating Connector Type Crimp Pulse input Pulse input Housing PN 436450200 STX PN CONr1000002 03 2 Secondary encoder B 12 Secondary encoder B 2x Crimp PN 0430300001 Direction input Direction input i 3 REO Secondary encoder Z 13 Secondary encoder Z Secondary encoder 5V 14 Secondary encoder ground AC Input and Regeneration Digital input 9 16 Digital input 10 P3 Phoenix 12 14 AWG f cy i 17 Digital output 4 Ui AG Phase EJE Dolore 3 B1 Fault relay 1 Fault relay 2 B2 Mating Connector 3M Solder Plug Connector 6 B3 PN 10120 3000PE STX PN CONr00000020 38 Mating Connector 3M Solder Plug Junction Shell PN SPC 5 6 STCL 7 62 1718520 PN 10320 52F0 008 STX PN HODr00000020 00 STX PN CONr10000006 78 Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback 1 Incremental encoder A 14 Incremental encoder A Er md 7 SSI encoder clock SSlencoderdeck Incremental encoder Z 1 Incremental encoder Z Hall U 1 5 6 7 Hall V saw 9 0 1 En E
223. return Fault relay 1 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback 1 Incremental encoder 14 rr SSI encoder clocks SSlencoderdeck Incremental encoder Z Incremental encoder Z 7 Hall U Hall V Hall W 8V supply ge E L Resolver sine 19 Resolver sine Resolver 20 Resolver cosine Resolver reference Sine encoder sine 10 Sine encoder cosine Machine I F AC Input and Regeneration P3 Phoenix 12 14 AWG B2 Mating Connector PN SPC 5 6 STCL 7 62 1718520 STX PN CONr10000006 78 Brake P4 Phoenix 14 17 AWG 2 BR Moorae Mating Connector PN SPC 5 2 STCL 7 62 1718481 Controller I F N IN i Machine STX PN CONr10000002 16 O O GO Functional Ground PE Terminal M4 M4 ring or spade terminal Motor P5 Phoenix 12 14 AWG 1 U Motor Phase U 2 V Motor Phase V Motor Phase W Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 k i N Motor temperature 25 Motor temperature sensor sensor 13 5V supply Shield Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026
224. 0 420 420 420 Yes Yes Yes 24 Ju CDHD 120 240VAC CDHD 008 CDHD 010 CDHD 013 C 80 3 596 80 5 80 3 596 C 100 3 596 100 3 596 100 5 C 100 100 100 C 45 45 45 B1 B2 A 40 40 40 Q 10 10 10 W HF 2110 2110 2110 VLOW VDC 380 380 380 VMAX VDC 400 400 400 L1 L2 L1 L3 L2 L3 3 2 4 120 240VAC CDHD 020 024 CDHD 020 CDHD 024 120 240 VAC amp 2x 1096 120 240 120 240 L1 L2 L3 Hz 50 60 50 60 120 240 VAC 3 1H 3 1H 3 Arms 20 240V 24 240V FRN R LPN A 25 30 ME
225. 0 C3 m m 15201 C2f LIT E EC2 PN 2 C2 RARE MUR RA 20 51 EC2 PN2 2 21 C2 gt JJ gt j lt P o ue 42 cO CD 3 3 C2 1 0 3 2 C2 1 0 5 24 1 1 AP1 AF1 24 24 AP1 AF1 24 EC2 PN2 EC2 PN2 OUT7 20 2 WW2 W7 21 D7 CDHD EE 3 6 2 I 0 JEU TITE P 5 4 A A A A 5 B B 23 B
226. 00 NL Derivative Integral Gain 0 000 NL Kff Spring Gain 5000 000 NL KF Spring Filter NL Maximum Adaptive Gain ML Derivative Gain 12 14 KNLP 25 Hz a Pus 100 200 Milliseconds NL Adaptive Gain Scale Fac 1 000 NL Derivative Gain 150 000 300 400 Samples Samples Time Interval x 31 25 ps Trigger Setup Mame Level Pre Points Mame 500 F3 Samples Samples Time Interval x 31 25 HS Trigger Setup Dir Up Level Pre Points Record Variables Sel Mame 500 Dir Up Record Variables 1000 16 200 0000 ms x 1000 16 500 0000 ms ML Gain NL Derivative Integral Gain NL Integral Gain NL Kff Spring Gain NL Spring Filter NL Maximum Adaptive Gain 12 15 284 35 000 0 000 Hz 5000 000 Hz 134 Hz 2 760 KNLP35 Hz CDHD HD 12 16 Scope an E3 EE COEM ES EE 138 Samples 1000 Time Interval 48 x 31 25 500 0000 ms Trigger Setup Mame Dir Up Down Level Pre Points 10 Record Variables D 100 200 Sel Mame X Milliseconds o Terminal Parameter Table ML Adaptive Gain Scale Fac NL Derivative Gain 150 000 ML Pr
227. 013 120 240 AME R T mm 18 CDHD 24 5 _ 3 pls for screws M4 or 8 2 6 CDHD 020 CDHD 024 120 240 VAC mm 400 480 54 5 3pls for screws M4 or UN 8 162 8 172 2 163 2 2 7 CDHD 003 CDHD 006 400 480 VAC mm 19 CDHD 20 3 p 3 I x ss I M E RR i 193 5 re 2 8 CDHD 012 400 480 VAC 54 5 3pls for screws M4 or UN 8 i 1 Las 117 4 mm CDHD 2 2 2 x 2 1 120 240VAC CDHD 1D5 003 CDHD 1D5 CDHD 003 120 240 VAC VAC 10 120 240 120 240 L1 L2 Hz 50 60 50 60 120 240 VAC 1 8 Arms 2 5 5 FRN R LPN A 10 10 1500 VAC 2121 VDC 1500 VAC 2121 VDC 120 10 240 10 VAC L1C L2C 120 240 A 0 5 0 5 STO STO VDC 24 10 24 10 STO 120 240 VAC A 1 5 1 5 U V W
228. 2 86 CDHD X 3 39 1 L1 1 2 L2 2 3 L3 3 4 B1 5 B2 6 B3 3 11 Phoenix Contact SPC 5 6 STCL 7 62 1718520 6 12 14 AWG 300W 1 B2 1 B2 3 23 3 23 BEES 1 87 CDHD 3 8 4 BALHE H 88 400 480 VAC CDHD P4 Li R 3 24 3 41 1 BR P B FE TR w 2 BR 8 EB
229. 2 Incremental Encoder AqB E A e Multiplier Engaged Pulse amp Direction P amp D Up Down Gear Filter Mode Ratio 7 Filter Gear Filter Depth 2 000 ms Gear Ratio Multiplier 1 Gear Filler Velocity and Acceleration Depth 1 000 ms Gear Ratio Divider 1 Gear Acceleration Threshold 1000000 000 rpm s External Encoder Resolution 2048 Gear Filter Acceleration Feedforward 1 000 Actual Values Motor Current 0 008 Velocity 0 000 rpm Position 3 053 Counts 6 7 ServoStudio CDHD GEARMODE 6 6 1 GEARMODE HWPEXT GEARIN 1 GEAROUT XENCRES GEARIN GEAR 163
230. 200 Hz Parameter 2 command 200 E Input Filter Velacity 1 First order filter Feedback 6 25 ServoStudio BR 6 14 1 Pl Controller Velocity command IN j ED Integral Gain o Proportional Gain Deceleration limits KVE k rpms Ajrps 6 26 PI 182 CDHD PD KVP Ee EE pu ss a B8 SE 8 E871 35 182 1 VarCom VELCONTROLMODE 0 6 14 2 PDFF PDFF KVP KVFR Controller F Feedforward ratio KVFR x Velocity command xm IN a _ DE ntegral Gain D
231. 25 A Hall U B Hall V 25 B Hall V Z4 Hall W 25 Z Hall W 5 5 1 ABZ 5 5 UVW 3 11 2 12 25 WERE R MARA f Sine 25 Sine XZ Cosine 5 5 1 2 12 25 CDHD 3 12 HERE CR MARA 26 XU XU Sine Sine Cosine Cosine ERW 5 5 Bici 12 25 65 CDHD X 3 13 XR Index SIH MARA 9 Sine XU 22 Sine 10 XU 23 Cosine 3 Z XU 16 Z 11 5 24 5 26
232. 3 L1 L2 L1 L2 L3 3 L1C 1L2C L1C L2C L1C L2C 80 CDHD CDHD 1D5 CDHD 003 L3 R 3 33 CDHD 1D5 CDHD 003 P3 CDHD 4D5 CDHD 006 P4 CDHD 008 CDHD 010 CDHD 013 P4 P5 CDHD 020 CDHD 024 P3 P2 OV Uu UJ A WU N L1 L2 L1C LC2 L1 L2 L3 L1C LC2 L1 L2 L3 L1C LC2 L1 L2 L3 L1C LC2 1 lt 2 3
233. 7 bit ABS Multi tum Resolver VarCom FEEDBACKTYPE MENCTYPE E VarCom VarCom PFB VarCom PFBOFFSET 127 JJ CDHD 128 IZERO VarCom IZERO On VarCom ZERO ATUS RUN Hil Zufi as x hn EOO RIA C2 I F
234. 8 CDHD JJ Digital l Os Digital 1 05 pri Digital Inputs State 2 2 Mame Input 1 Input 2 Input 3 Input 4 Input 5 Input 5 Input 7 Input amp Input 8 Input 10 Input 11 Digital Outputs State Name Output 1 Output 2 Output 3 Output 4 Output 5 Output amp Fault Relay hode Mode 1 Remote enable 0 dle D dle 9 Script 10 Script Bit 0 11 Script Bit 1 12 Script Bit 2 13 Script Bit 3 14 Script Bit 4 D dle D dle 0 dle 0 dle 0 dle 0 dle 0 dle 0 dle 0 Close when no faults 5 26 ServoStudio I O 5 12 1 LED VarCom INPUT 2 INPUTS VarCom INMODE 1 Remote enable 2 Reset faults 3 PLL synchronization 4 Emergency Stop 5 Positive Limit Switch 6 Megative Limit Switch 8 Switch 9 Script 10 Script Bit 11 Script Bit 1 12 Script Bit 2 13 Script Bit 3 14 Script Bit 4 15 Deceleration by DECDIST 15 Deceleration by DECDIST2 5 17
235. 8 4 E00 C2 U F ENCOUTMODE ENCOUTRES ENCOUTZPOS index 5 20 130 CDHD JJ DSP NO Y IF MENCRES ABS ENCOUTRES FPGA Encoder Simulation Mode 1 Index per Revolution Resolution 2048 HALLS These parameters are defined by user Or ENCOUTMODE 0 OFF 1 ON 2 ON Index pulse goes directly from motor via FPGA to C2 ENCOUTRES 10 000 000 no 0 ENCOUTZPOS 0 to 40000000 Notes and Limitations Index location is relative to the real index MENCTYPE 0 1 2 at zero electrical degree MENCTYPE 3 4 6 ENCOUTZPOS is not applicable in ENCOUTMODE 0 and 2 Wizards These parameters are set and defined st by the Motor Setup wizard Feedback lt 1 Mechanical Revolution PFB 4 x MENCRES Counts MECHANGLE Counts Electrical Cycles 360 360 360 MPHAS
236. 8 fA um 3 42 Phoenix Contact 2 SPC 5 2 STCL 7 62 1718481 14 17 AWG 3 18 A 24VDC 1 B DI UF1005 MUR160 24 VDC lt 1A CDHD AME SUE HJ POWER SUPPLY A B 3 25 CDHD Power Relay 89 CDHD 3 8 5 90 CDHD P5 cV 3 26 3 43 Pin Pin Label Function 1 U U 1H 2 V V 1H 3 W W 1H 3 12 P
237. C6 RJ45 Equivalent encoder 22 Equivalent encoder output A output A Equivalent encoder Equivalent encoder CANH CANL FGND CANH 2 4 OND RS232 5 DD C7 4p4c 6 LEN NI mmi output B output B CD Equivalent encoder 24 Equivalent encoder output Z output Z RX Analog input 1 26 Analog input 1 N Direction input 27 Direction input RXD GND TXD GND s Secondary encoder 0 Ground 28 Pulse input Secondary encoder A Secondary encoder B N LY Pulse input 29 Ground Secondary encoder A pm 13 Digital input 3 P Digital input 4 32 Digital input 5 15 Digital input 6 33 Digital output 2 18 Analog input 24 36 Analog output STO Safe Torque Off P1 Molex 26 28 AWG 24 VDC STO enable Ground 24 VDC return 3 4 USB C1 Mini B Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Mating Connector type Crimp Housing PN 436450400 STX PN CONr1000004 09 4x Crimp PN 0430300001 STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Motor 1 PE Functional Ground Mating Connec
238. Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Mating Connector type Crimp Housing PN 436450400 STX PN CONr1000004 09 1 4x Crimp PN 0430300001 STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS Motor P2 JST J400 14 AWG Controller VF Regeneration 1 P3 JST J400 14 AWG Mating Connector Type Crimp Housing PN J42FSC 02V KX STX PN CONr10000002 14 2x Crimp PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 Main AC Input P4 JST J400 14 AWG Mating Connector Type Crimp Housing PN J43FSS 03V KX STX PN CONr10000003 19 Crimp PN SJ4F 71GF M3 0 STX PN CRPrSJ4F71GF 00 10 Fault relay 1 Machine VF Feedback C4 MDR 26 Plug 24 28 AWG SSI encoder clock SSI encoder clock 3 Incremental encoder Z 16 Incremental encoder Z 4 Hall U 17 Hall V Resolver sine Resolver cosine Resolver reference Sine encoder sine 22 Sine encoder sine 10 Sine encoder cosine 23 Sine encoder cosine 1 5V supply Ground 5V 8V return Motor temperature 25 Motor temperature sensor sensor 5V supply Shield Mating Connector 3M Solder Plug Connector Feedback Logic Power AC Input P5 JST J300 16
239. Damping Gain NLANTIVIBGAIN ANTI VIBE 1 Result Best Setting Time NLANTIVIBGAIN n Reset NLANTIVIBGAIN 0 ANTI VIBE 2 Set Narrow Band Center Frequency NLANTIVIBHZ2 Set Narrow Band Center Width NLANTIVIBSHARP2 Se Tune Increase Damping Gain NLANTIVIBGAIN2 Adjust value until best result f ANTI VIBE 2 Result Best Setting Time NLANTIVIBGAIN2 n Compare Settling Time Results NLANTIVIBGAIN 2 is better than NLANTIVIBGAIN Set NLANTIVIBGAIN2 OPTIONAL Repeat ANTI VIBE 1Tuning 13 2 295 CDHD 13 4 1 2 ServoStudio 1 Filter NBF 1 CMD GRAME EMERE At ICMD FFT FFT rri 13 3 FFT Trace
240. Delete Model Write to Drive Motor Encoder Resolution 2500 Lines per revolution Feedback Type Copy to User Library Motor Encoder Type Verify Motor Over Temperature Mode w Click for Details 5 18 ServoStudio 5 8 e EEA EnDat 4 e AMERRE FEEDBACK ServoStudio 126 CDHD JJ s Feedbac
241. E 100 001 010 60 180 300 120 240 Other Hall combinations are possible depending on the wiring Degrees MENCZPOS Counts Z Index pulse 5 20 n MPOLES 2 number of electrical cycles 131 DESIT Et CDHD 132 5 9 KE Motion Units Rotary Units Units Rotary Position 1 count Units Rotary Velocity 1 pm Units Rotary Acc Dec 1 pms Linear Units Units Linear Position 1 count Units Linear Velocity 1 Units Linear Acc Dec 1 mm s 2 CANopen Units Unit Conversion Numerator 350 Unit Conversion Denominator 1 Fieldbus Gear Driving Shaft Scaling 1 Fieldbus CANopen Gear Motor Shaft Scaling 1 5 21 ServoStudio ServoStudio CAN VarCom UNITSROTPOS UNITSROTVEL
242. HD KX NLNOTCH2CENTER HD NLNOTCHBW HD BiA ts se NLNOTCH2BW HD PEOR ri 3 100 8000 Hz 300 2000 Hz 273 HD CDHD HD e NLFILTDAMPING HD 2 NLFILTT1 NLFILTT1 HD 1 Step Response of Second Order Low Pass Filter Sa NIFiltDampin g 0 i NIFiltDamping 40 RiFiltDamping 809 Current Response 4 5 B Time millisecond 12 4 Step Respons
243. JST J300 F32FSS 02V KX E amp SF3F71 GF P2 0 E amp 16 AWG CDHD 008 CDHD 010 CDHD 013 JST J400 JA2FSC 02V KX E SJAF 71GF M3 0 6 14 AWG CDHD 020 CDHD 024 Phoenix Contact SPC 5 2 STCL 7 62 1718504 14 AWG x 3 32 6 HERT CDHD 1D5 CDHD 003 JST J300 F32FSS 06V KX SF3F 71GF P2 0 06JFAT SBXGF E amp 18 79 CDHD 3 7 4 CDHD RAR SHARMA RREME ERANT E CDHD 1D5 CDHD 003 P3 CDHD 4D5 CDHD 006 P4 m CDHD 008 CHDH 010 CDHD 013 P4 P5 CDHD 020 CDHD 024 P3 P2 3 16 CDHD 006 1 PE MA 3 17 2 Ll L2 L
244. NL Maximum Adaptive Gain 2 760 12 18 KNLP75 Hz Scope E3 EB E2 E3 rz 200 100 Milliseconds Name Value 300 400 500 NL Adaptive Gain Scale Fac 1 000 NL Derivative Gain 150 000 Hz NL Proportional Gain NL Derivative Integral Gain oo 100 000 Hz NL Integral Gain 0 000 Hz NL Kff Spring Gain 5000 000 Hz NL Kff Spring Filter 134 Hz NL Maximum Adaptive Gain 2 760 12 19 286 Samples Samples 1000 Time Interval 46 x 31 25 ys 500 0000 ms Trigger Setup 2 Name IMM v Dir Up Down Level E Pre Points 10 Y Record Variables Sel Name x 0 1 7 PCMD 0 1 PTPVCMI 0 lo 10 lo m 0 1 7 VCMD lo 1 0 1 0 1 0 1 Samples Samples 1000 Time Interval 4 6 x 31 25 us 500 0000 ms Trigger Setup Name IMM T Dir Up Down Level 1 Pre Points Mo lt Record Variables Sel Name X 0 1 PCMD lo 1 Jove 0 0 10 las 0 7 m 0 1 E lo 1 E 0 1 lo 1 F o 1 KNLP 100 Hz
245. PMODE 6 1 0 OPMODE 0 1 OPMODE 1 2 OPMODE 2 3 OPMODE 3 4 OPMODE 4 8 OPMODE 8 CDHD Motion Operation mode 2 Serial Current 3 Analog Current 4 Position Gear Serial Velocity 1 Analog Velocity 8 Position 6 1 ServoStudio ServoStudio CAN ServoStudio CANopen LED Motion CCAMapen operation made Position Mo made assigned 1 position 3 Fraf
246. Position Motion Target Position Cruise Velocity ICMD 0 1 Command Afternating 5000 counts 450 rpm m 0 1 Absolute anaq in Incremental 52000 4000 rpm s v 0 0 14 Deceleration 52000 000 rpm s C Acc To Dec 0 1 s E h hh 4 5 ServoStudio 98 CDHD ServoStudio 4 3 3 Scripti n x Current Line 1 Var Sdistance Variable definitic Sdistance 100000 Disable the drive opmode 8 Position mode acc 1000 Motion accelera dec 1000 Motion decelera recoff Cancel an active records record 64 2000 v pe Record rectrig imm Record trigger I en Enable the drive m moveinc distance 500 Positive twhile v 10 While loop ue 10 re 6 scipt2 scripts r Terminal n 1 gt 0 500 1000 1500 2000 2500 3000 3500 Milliseconds 1000 000 fpm s Terminal Output watch DataT
247. RK 1 E Serial Data XW 14 Serial Data 11 5 24 5 26 BE WN Win 1 17 131 072 17 2 12 25 3 22 17 WARK 1 7 Serial Data XW 3 14 Serial Data 11 5 24 5 26 BE WY Mim 1 17 131 072 17 2 12 25 69 CDHD 3 23 17 MARA 1 f Serial Data XU 14 Serial Data 11 5 24 5 26 1 17 131 072 17 2 CDHD 3 6 ithium ER3V 3 6V 1000mAh 3
248. SB RS232 DoFPFimewaresFW 1 4 1 Status Downloading ine 5187 a 8 2 Fair PC 1_4_1_AX_Drive i00 1 4 1 My Documents ServoStudio 241 CDHD 8 4 242 Ember Ember flash AM lEmber Com Q COM COM 115200 address lgnite lgnite m daisy chain
249. UM 0 ECHO 1 MSGPROMPT 1 EN 261 1 2 3 4 5 6 7 8 9 10 11 E N lt CR gt E N CR lt LF gt lt DLY gt gt gt EN gt 259 JJ as tb DB CDHD 2 DUMP 1 D lt LF gt 19 SP 27 lt CR gt gt DUMP gt var1 val1 gt Var2 val2 gt varn valn 3 J jog 1 2 J J lt LF gt 260 c 12 DLY VAR1 20 21 VAL2 CR 28 29 CR CR 12 10 CR CR 14 17 SP VAL1 CR LF VAR2 22 23 24 25 26 LF VARn SP VAL gt LF 30 10 LF DLY lt VAL1 gt SP VAL2 CR Souls gt J gt nnnnn nnnnn gt Bl 4 MPOLES 1 amp 8 7j 2 1 2 3 4 5 6 7 8 9 10 M P O L E M P O L
250. able g Motion o Measure 9o Parameter Table 4 6 ServoStudio ServoStudio X E 99 ServoStudio CDHD e ScopeChart Chart ScopeChart Windows Layout gt e fEScop
251. al Gain NL Derivative Integral Gain 0 000 NL Integral Gain 0 000 NL Kff Spring Gain 5000 000 NL Kff Spring Filter 134 NL Maximum Adaptive Cain 2760 12 9 KNLD 150 Hz Samples Samples 1000 Time Interval 16 NH x 31 25 ps 500 0000 ms Trigger Setup Name IMM Dir Up Down Level 1 Pre Points 10 Record Variables Sel Name X E O z lt o 6 1 E3 9 Es E 59 ES ES Ll 5 2 1 NLFILTDAMPING ICMD 1096 Scope Name NL Kff Spring Gain Hz NL Kff Spring Filter 5000 000 134 Hz NL Maximum Adaptive Gain NL Torque Filter 2 2 760 75 NL Torque Filter 1 NL Notch Center lz220 1333 NL Notch BW 50 Acceleration 12 10 50000 000 NLFILTDAMPING 75 Selected value Samples Samples 1000 Time Interval 16 x 31 25 bs 500 0000 ms Trigger Setup Name IMM Dir Up Down Level 1 Pre Points 10 Record Variables Sel Name X o 1 7 PCMD 0 4 Prpvcnd 0 PE 0 0 400 E IQ lo 4 o Iv lo p F PFB lo 1 0 1
252. apartianal Gain E NL Integral Gain 0 000 NL Derivative Integral Gain NL KF Spring Gain 5000 000 7 NL KF Spring Filter 134 NL Maximum Adaptive Gain 2760 KNLP 45 Hz c EE COE EH EDS Samples 2000 dud Time Interval 15 x3125 ys 500 0000 ms e es ES 1000 x ICMD l Trigger Setup Name 0 Dir Up Down Level 33 il 1000 Pre Points 10 2000 Record Variables X 200 Milliseconds Parameter Table 12 17 ML Adaptive Gain Scale Fac NL Derivative Gain NL Proportional Gain NL Derivative Integral Gain ML Integral Gain 0 000 NL Spring Gain 5000 000 NL KF Spring Filter 134 NL Maximum Adaptive Gain 2 760 KNLP 65 Hz P 285 HD CDHD Scope 22 cd 2000 sS PTPVCMD xPE 1000 x ICMD 0 1000 2000 0 100 200 300 400 Milliseconds Name Value T NL Adaptive Gain Scale Fac 1 000 NL Derivative Gain 150 000 Hz NL Proportional Gain 75 000 Hz NL Derivative Integral Gain ta 0 000 Hz NL Integral Gain NL Kff Spring Gain 5000 000 Hz 4 NL Kff Spring Filter 134 Hz
253. ating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter 2 12 R 120 240 VAC CDHD 4D5 006 37 CDHD 2 3 3 120 240 VAC CDHD 008 010 013 Mains Daisy Chain Three Phase 120 240 VAC L L RS232 EtherCAT UT Rotary Switches or CAN N amm Drive addressing Circuit Breaker STO Ee or Fuses Safe Torque Off E rt Connect to 24 VDC power supply or use bypass plug Connect to lt USB mini B cable Connect to Host Controller Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs 1x analog output Line Filter Regenerative optional te Resistor optional Controller VF Magnetic Contactor Connect to Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Machine UF Feedback Motor Feedback Functional Ground Motor Brake Rela 24 VDC P Suppl optional Motor Power Brake Output To be supplied by customer Refer to EMI Suppression in the user manual 2 13 120 240 CDHD 008 010 013 38 CDHD Nar Daisy Chain Controller I F C2 MDR 36 Plu 24 28 AWG EtherCAT In EtherCAT Out PC omale ME ME iud C5 RJ45 C6 RJ45 KEON Un TUS D eoa 9 VDO T or
254. ax Value 400 CANopen Index 500201950 4 2 Help F1 Enable Kill 94 CDHD ServoStudio Undo Config Clear Faults Details 4 1 3 Ctrl Z Select a line and apply its value HD Derivative Inte gral Gain 7 75 000 HD Derivative Integral Gain HD Derivative Integral Gain HD Deri KNLIV HD derrvatrve integral gain Source Position Loop KnlIV mom Drive ID 3 DEMO1 Ime 14 24 42 CONFIG 45
255. ble gt P 3 o L 7 Software enable on power up Faults amp Warning Fault History Clear Faults History Icon Time Fault Name Description Action Required Velocity Actual velocity exceeded 1 2 times the Check that VLIM is setto match the c 416 51 51 Over Speed velocity limit The velocity limit is set application requirements Using velocity Exceeded using VLIM loop tuning 5 36 ServoStudio READY EN K AE ServoStudio SWENMODE SWEN
256. ckup amp Restore NL Anti Resonance Center 100 000 Hz NL Anti Resonance Sharpn NL Anti Vibration Gain 1 000 Rad 10 7 Nm lt lt lt I lt 1 lt 5 2 4 13 6 298 CDHD FFT ICMD 14Hz loj x mum FFT ICMD av Scope HS GEH 13 7 ICMD FFT 236 ms e NLANTIVIBHZ 14 Hz e NLANTIVIBSHARP 0 4 FFT e NLANTIVIBGAIN 75 0 setting Time _ Posion ModE i Select Series Cmd PTPVCMD v Select Series PE PE m Position Error Window to Suggested Settling Time 236 n Samples A s samples Time Interval X31 25 ys Current Foldback Digital Os Analog l Os 250 Homing Disable Mode Enable amp Faults 500 Tuning Motion 250 500 750 1000 1250 1500 Current Loop Milliseconds Velocity Loop Motion Terminal Parameter Table Measure Script Dashboards Expert NL Notch Ce
257. conds Parameter Table Ne Dervatvecan 134000 oo00 NL Derivative Integral Gain NL Integral Gain NL KF Spring Gain Value 0 000 Hz Samples Samples Time Interval x 31 25 Trigger Setup Dir Up Level Pre Points Record Variables Sel Mame 1000 16 500 0000 ms NL Kff Spring Filter NL Maximum Adaptive Gain 12 7 KNLD 134 Hz ICMD 100 f S Name cope E3 En E2 NL Adaptive Gain Scale NL Derivative Gain 200 000 Hz NL Proportional Gain rw NL Derivative Integral Gain 0 000 Hz NL Integral Gain 0 000 Hz NL Kff Spring Gain 5000 000 Hz NL Kff Spring Filter 134 Hz NL Maximum Adaptive Gain 2760 Samples Samples 1000 Time Interval 16 x31 25 bs 500 0000 ms Trigger Setup Name IMM Dir Up Down Level 1 Pre Points 3 0 Record Variables Sel Name X 0 1 E PCMD 0 1 PTPVcur 0 1 0 10 0 100 E la lo h vemo 0 1 E lv 0 1 E pFB 0 1 7 0 1 12 8 KNLD 200 Hz KNLD 280 CDHD HD Scope PTPVCMD PE x ICMD 0 100 200 300 400 500 Milliseconds Name Value 1 000 150 000 NL Derivative Gain NL Proportion
258. ction required Enable the drive and send valid position commands Fb3 Displayed in sequence Definition EtherCAT Cable disconnected Type Fault Active disable Yes Description The connection between controller and drive was removed This fault disables the drive Action required Reestablish the connection between controller and drive H H CDHD T xh Es E THERMODE THERMTYPE THERMTHRESH THERMTIME E 1 2 VLIM VLIM 215 CDHD
259. der clock SSI encoder clock Incremental encoder Z 16 Incremental encoder Z Hall U 4 Hall V 7 Hall W 18 8V supply 19 Resolver sine Resolver cosine 20 Resolver cosine E Resolver reference Functional Ground D 1 Sine encoder sine PE Terminal M4 i lt gean Sine encoder cosine M4 ring or spade terminal 5V supply Ground 5V 8V return Motor temperature Motor temperature sensor sensor 5V supply Shield Refer to ordering information Crimping tool Molex 0638190000 P1 Mating Connector 3M Solder Plug Connector CAN and EtherCAT models only Crimping tool YRF 880 P2 P3 PN 10126 3000PE REN PN CONr00000026 31 3M Solder Plug Junction Shell EtherCAT models only EJ JFAJ3 P2 P3 PN 10326 52F0 008 STX PN HODr00000026 00 Key for spring J FAT OT Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter Highlighted PN Supplied with CDHD connector 4 40 insert threads on C2 C3 C4 2 10 120 240 VAC CDHD 1D5 003 35 CDHD 2 3 2 120 240 VAC CDHD 4D5 006f15 BR Zit 4b Mains Daisy Chain Single Phase RS232 120 240 VAC EtherCAT m or CAN Rotary Switches Drive addressing Circuit Breaker EM STO or Fuses Safe Torque Off Connect to 24 VDC ELI NE Connect to PC SR USB mini B cable m Line Filter tet Regenerative optional trt Resistor op
260. dip FLT RLY1 Fault Relay INPUT SINK MODE FLT_RLY2 3V3 Perg C YY GND iri OUT COMM 9 OUTPUT SOURCE MODE RS422 RECEIVER i 3V3 EA Y i A PULSE dus yy i A IPULSE 24V PX OC B amp DIRECTION4 OR B IDIRECTION SECONDARY ENCODER N OUT X OUTPUT SINK MODE OR PULSE amp DIRECTION i ak 5V 24V 14 JX 2 24 EC2 PN2 C3 1 0 49 CDHD 3 3291788 3 1 CDHD 1 CDHD 2 2 0 C3 0 CENE STO HU AC 3 4 USB RS232 CANOpem EtherCAT PC 5 PC 6 Hi 7 NetFrameWork4 0 ServoStudio 8 ServoStudio 3 2 32 AEX
261. disable Description Action required NJ ER f 3 3 1 223 32 w 12 07 CDHD r4 r5 224 r4 r5 Th A B f
262. e Torque Off Connect to 24 VDC power supply or use bypass plug m z EA Connect to lt S Tr USB mini B cable Connect to Host Controller Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs 1x analog output Logic PS 24 VDC 3 5A Regenerative Resistor optional ELLIE Connect to Additional IOs Sx digital inputs 3x digital outputs 1x fault relay Secondary feedback Functional Ground Motor Feedback Motor Power Motor Brake 24 VDC 1 3A max Internal 470 300W For higher power external regen resistor is required refer to the user manual Refer to EMI Suppression in the user manual 2 17 5 FE 400 480 VAC fH CDHD 003 006 42 CDHD Controller I F io C2 36 Plug 24 28 AWG EtherCAT Out 1 ais 1 24 VDO return NELTRON 4401 10SR Common output EtherCAT In C5 RJ45 RJ4 EE or COXOC 304A 10PSAAA03 5 PN CONr0000001 0 67 Digital output 1 Digital input 2 CAN In CAN Out C5 RJ45 C6 RJ45 Equivalent encoder 22 Equivalent encoder output A output A 3 CANN seri 3 5 Equivalent encoder 23 Equivalent encoder CANL CANL 2 output B output B 3 FGND FGND RS232 TXD 6 Equivalent encoder Equivalent encoder 1 NNUS pues 5 CN RN s 6 6 GND ISO FH 8 Analog input 1 26 Analog inp
263. e of Second Order Low Pass Filter XES 071815 88 TI KNLD NLFILTT1 NLFILTDAMPING HDC e NLPEAFF HD Kff 400 30 5 Lk 152 5000 725 CDHD HD e NLAFFLPHZ HD Kff NLAFFLPHZ NLPEAFF 12 3 ServoStudio
264. eChart Chart ScopeChart Windows Layout gt Cm ServoStudio Z Lff xezia 5 5 PFLLIBE BIA IIR E E IH FP a L ERR 1 Output Print ZU EI E 100 CDHD ServoStudio ServoStudio
265. eceleration limits 6 27 PDFF KVFR KVYFR KVFR VarCom VELCONTROLMODE 1 6 14 3 PP 2 LMJR BW Velocity command IN Load lritertia Ratio LMJR 6 28 183 CDHD ServoStudio ServoStudio
266. edback W N C4 26 Plug 24 28 AWG M SSleneoderdock 65t encoder cook Regeneration P5 Phoenix 14 AWG P 4 Hall V 1 B2 Regen Bus 8V supply 2 B1 DC Bus Resolver sine 0 1 2 3 2 d Mating Connector Resolver cosine PN SPC 5 2 STCL 7 62 1718481 Resolver reference STX PN CONr10000002 16 0 23 Sine encoder cosine PE Terminal MA PE Terminal M4 l 12 Motor temperature 25 Motor temperature 4 ring or spade terminal sensor Sensor 13 5V supply 26 Shield LE Fl Refer to ordering information CAN and EtherCAT models only 3M Solder Plug Junction Shell EtherCAT models only PN 10326 52F0 008 STX PN HODr00000026 00 Mating Cable STX PN CBL MDRFL 26 0x x 1 2 3 meter STX Servotronix Crimping tool Molex 0638190000 P1 Highlighted PN Supplied with CDHD 4 40 insert threads on C2 C3 C4 i Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 2 16 120 240VAC CDHD 020 024 41 2 3 5 400 480 VAC CDHD 003 006 Mains Three Phase Max 528 VAC L L Circuit Breaker or Fuses Daisy Chain Line Filter optional RS232 EtherCAT OUT Rotary Switches or CAN IN Drive addressing Magnetic Contactor STO Saf
267. ernal Tirne Fault and Stop Disable Sequence Active Disable O Yes No D ynamic Braking on Fault 7 Yes Ho Dynamic Braking Any Disable Yes No Active Disable Speed Threshold 0999 545 rpm Active Disable Deceleration 500 000 rpm s Active Disable Deceleration Time ms 6 13 ServoStudio a ccording to v Internal qualification for V Drake on DISSPEED Disable and DECSTOP DISTIME Controlled deceleration if conditions allow Motor dynamic braking if conditions allow Motor dynamic braking if conditions allow Active Disable Time 10 Ims Dynamic Brake Current 25 455 A Current Limit During Emergency Factor of Yes VarCom DISMODE Yes VarCom DISMODE Yes VarCom DISMODE VarCom DISSPEED DISSPEED k T
268. fset 0 Print pfboffset pfboffset pfb PFB Print pfboffset 253 JJ ss tb ED CDHD 10 CDHD PC ASCII VarCom ServoStudio o 10 1 254 ra J RS 232 USB 115200 bps 1 8 1 ASCII 8 lt LF gt OAh lt CR gt ODh SP 20h DLY CORD El ECHO
269. h two analog inputs Standard Analog voltage Pulse Train Ref Digital motion bus Configurations AF1 EC2 Analoginputs 1 16 bit 1 16 bit 2 14 bit 2 14 bit CANopen EtherCAT PROFINET Feedbacksupply 8 V 1 4 CDHD 1 3 1 3 1 CDHD 1 3 2 ISO 7000 0434 2004 01 N IEC 60417 5036 2002 10 D IEC 60417 5019 2006 08 13 CDHD 1 3 3 14 IEC 60417 5041 2000 10
270. hoenix Contact 3 5 3 STCL 7 62 1718494 C amp 12 14 AWG CDHD 3 9 4 ServoStudio 5 Windows ServoStudio 3 10 1 2 USB Windows VProgram Files x86 Servotronix ServoStudio Drivers CDHD 7 LED 3 27 7 LED 7 LED 7 LED
271. ile velocity 4 Prafile torque Homing Motion Profile 8 Cyclic sync position 3 Cyclic sinc velocity 10 Cyclic sync torque 6 2 ServoStudio Motion Screen CANopen 6 2 3 OPMODE3 I F 8 26 157 CDHD 158 Motion Operation mode 3 Analog Current igna Greer n Deadband urrent Scaling urrent Command m Valuez Motor Current 085 E velocity 360 785 rpm Position 20743514 8f Counts 6 3 ServoStudio Motion Screen ASNE AARAA VarCom ANIN1OFFSET CDHD 10V ANIN1 ANIN1 1
272. in Automation PROFINET PROFIBUS International EtherCAT Beckhoff Automation GmbH EnDat Dr Johannes Heidenhain GmbH HIPERFACE Sick Stegmann Gmbh CDHD Windows RIN 015 W201 86 755 8662 6603 86 755 8662 6665 www servotronix com CDHD Servotronix tech supportaservotronix com Servotronix tech support servotronix com o
273. ing Position error monitoring 8 Position feedback monitoring 9 Reserved output 0 10 Reserved output 0 VarCom ANOUTMODE ANOUTMODE ii VarCom ANOUTMODE ANOUTMODE 0 VarCom ANOUTCMD D CMD VarCom ANOUTISCALE VarCom ANOUNTVSCALE V VE 148 CDHD D SIL 5 16 5 16 1 N HH LED LED LED Enable amp Faults Faults o Clear Faults Ready are Enable o Disable T Remote Ena
274. itional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Functional Ground Motor Feedback Motor Brake 24 VDC optional Power Supply Motor Power Brake Output To be supplied by customer Refer to EMI Suppression in the user manual 2 15 rhI amp 120 240VAC CDHD 020 024 40 CDHD v Daisy Chain Controller I F EtherCAT In EtherCAT Out C8 0 1 IDC Female C2 MDR 36 Plug 24 28 AWG C5 RJ45 C6 RJ45 NELTRON 4401 10SR 1 24 19 24 VDC OR OR or COXOC 304A 10PSAAAO03 Common output Common input i Digital output 1 20 Digital input 2 Detaimpt C5 RJ45 C6 RJ45 a _ 4 Equivalent encoder 22 Equivalent encoder CANH CANH 3 RXD i output A output A CANL CANL 4 GND i 5 Equivalent encoder 23 Equivalent encoder FGND FGND RS232 5 TXD e C7 4p4c 6 eu 05 Equivalent encoder 24 Equivalent encoder output Z output Z nu GND ISO 8 Analog input 1 26 Analog input 1 Be TA 3 Direction 27 Direction input wass Secondary encoder B Secondary encoder B Ground Pulse input Secondary encoder A Pulse input 29 Ground Secondary encoder A CD A Hl A j f 6 F N Ground Digital input 3 Digital input 4 Digita
275. k Select Feedback Tamagawa Incremental Encoder 8 wires Feedback Type 2 11 Lines Fer Revolution 2500 Lines Per Revolution Halls Hall Signals Type 0 Main feedback single ended inputs Halls at Encoder Power Up Hu Hv Hw 0 1 1 Inversion E Motor Angle 65494 Position 5 375 Position Offset 0 000 Encoder Simulation 65536 rev Counts Counts wo Zero Resolution 2048 zero Procedure Current 5 19 ServoStudio Incremental Encoder A B Z Halls Incremental Encoder A B Z Init by PHASEFIND Incremental Encoder A amp B Z Init by first ENABLE or PHASEFIND Incremental Encoder A B Init by PHASEFIMD Incremental Encoder Init by first ENABLE or PHASEFIND Incremental Encoder A B Halls Sine Encoder A B Z Halls Sine Encoder A B Z Init by PHASEFIND Sine Encoder A B Z Init by first ENABLE or PHASEFIND Sine Encoder Init by PHASEFIND Sine Encoder Init by first ENABLE or PHASEFIMD Sine Encoder A B Halls Endat 2 2 Endat 2 1 with Sine Signals Hiperface with Sine Signals Nikon Encoder 17 bit ABS Single Multi tum Tamagawa Incremental Encoder 8 wires Tamagawa Encoder 17 bit ABS Single tum Tamagawa Encoder 1
276. l input 5 3 3 4 32 Digital input 6 33 Digital output 2 34 35 i STO Safe Torque Off 3 E Mating Connector type Crimp Housing PN 436450400 STX PN CONr1000004 09 4x Crimp PN 0430300001 STX PN PINr43030000 00 Wired STO STX PN CONr00000004 AS USB C1 Mini B i 0 1 Dioital i Analog input 2 36 Analog output N Analog input 2 Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter Machine I F C3 MDR 20 Plug 24 28 AWG Secondary encoder lt MEL I Controller VF Logic Power AC Input P2 Phoenix 16 AWG Mating Connector PN FKC 2 5 2 STF 5 08 1873207 i FP sS 1 1 Digital input 7 15 Digital input 8 Fault relay 1 Fault relay 2 Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter STX PN CONr10000002 25 Machine 5 Main AC Input 6 P3 Phoenix 12 13 AWG 1 L1 AC Phase 1 2 L2 AC Phase 2 Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 Motor P4 Phoenix 10 11 AWG 1 PE Functional Ground U Motor Phase U Fe
277. lts Tuning Motion Current Loop Velocity Loop Position Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore 12 26 Scope EXER E2 E rz 30 0 25 Motion Terminal Parameter Table Measure Script Name 50 75 100 Milliseconds 125 HD 150 175 Value NL Proportional Gain 65 000 NL Derivative Integral Gain NL Integral Gain 25 000 NL Kff Spring Gain 120 000 NL Kff Spring Filter 450 NL Maximum Adaptive Gain 2 760 NL Torque Filter 2 75 NL Torque Filter 1 1 200 NLPEAFF 120 Hz Scope ES 30 100 125 Milliseconds Parameter Table 150 175 NL Proportional Gain NL Derivative Integral Gain NL Integral Gain NL Kff Spring Gain 100 000 NL Spring Filter NL Maximum Adaptive Gain 12 760 NL Torque Filter 2 75 12 27 4 11 200 Samples 1000 Time Interval n 31 25 ys 187 5000 ms Trigger Setup Name IMM v Dir Up Down Level Pre Points Mo Record Variables Sel Name X 0 1 lo 1 V 0 01 v PE 0 1
278. m AL mm Resolver sine Resolver sine Resolver cosine Resolver cosine Resolver reference Resolver reference Sine encoder sine Sine encoder sine Sine encoder Sine encoder cosine 5V supply Ground 5V 8V return Digital input 7 15 Digital input 8 O Q Machine I F Brake P4 Phoenix 14 17 AWG 2 wooeae Mating Connector PN SPC 5 2 STCL 7 62 1718481 STX PN CONr10000002 16 Functional Ground PE Terminal MA 4 ring or spade terminal Motor P5 Phoenix 12 14 AWG Mating Connector PN SPC 5 3 STCL 7 62 1718494 STX PN CONr10000003 21 o l mo 12 Motor temperature 25 Motor temperature sensor sensor 13 5V supply 26 Shield Mating Connector 3M Solder Plug Connector PN 10126 3000PE STX PN CONr00000026 31 Refer to ordering information Crimping tool Molex 0638190000 P1 P2 3M Solder Plug Junction Shell PN 10326 52FO0 TX PN HODr00000026 00 CAN and EtherCAT models only 2 E i CE lll EtherCAT models only ating Cable i 26 0x x 1 2 3 meter Highlighted PN Supplied with CDHD 2 20 400 480 CDHD 012 45 CDHD 2 4 C2 5881 0 19 gt e SP lt gt 27K I nF oss
279. minal 2aninZiscale 0 5 5 34 1LIM 1LIMACT ACC DEC ACC DEC DEC 5 15 ServoStuduio CAN 147 DX zJ Bu EL CDHD Analog output Analog Output Mode User Command M Analog Output Value 0 000 V Analog Output Command 0 000 V Analog Output Current Scaling 0 000 Analog Output Voltage Limit 10 000 V Analog Output Velocity Scaling 0 000 rpm z 5 35 ServoStudio 1 0 User command 1 Tachometer mode 2 Equivalent curent monitoring 3 Velocity error monitoring 4 Curent command monitoring 5 Triangle wave at low frequency 6 Curent in phase IG monitor
280. mples 1000 30 Time Interval 18 x 31 25 5 500 0000 ms 20 Trigger Setup 10 IMM Dir Down Level Mo 10 Pre Points 10 20 Record Variables 30 Sel Name X 100 200 300 400 500 ii al p h Milliseconds LD Mame NL Adaptive Gain Scale Fac ML Derivative Gain NL Proportional Gain NL Derivative Integral Gain NL Integral Gain NL Spring Gain NL KF Spring Filter NL Maximum Adaptive Gain Value deis 150 000 65 000 90 000 2 Ed a 12 22 KNLI25 Hz e 1 CDHD HD 1 NLAFFPHZ 3 X KNLD NLAFFPHZ 3XKNLD 2 NLPEAFF NLPEAFF NLPEAFF 400 Hz
281. n Loop Dashboards Expert Terminal Scope General Preferences Backup amp Restore Status Bar Operation Mode8 No Messages 4 1 ServoStudio ServoStudio CDHD 92 CDHD ServoStudio 4 1 1 ServoStudio 4 E 5 O On Line Enabled Config Save Offline Online ServoStudio Enable Disable P TADRE CDHD K Configuration CONFIG CDHD CONFIG 7 LED 1 CONFIG Save RAM
282. nalog Input 2 Value 0 428 V Analog Qutput Velocity Scaling 0 000 rpm Set to Zero 5 29 ServoStudio O 5 14 1 1 C2 IF 8 26 OPMODE 1 3 1 FE AES 143 JJ s Ho CDHD 144 Analog 1 05 Analog Input 1 Signal Set to Zero Analog Offset Filter Analog Input 5 30 ServoStudio MO 5 14 1 VarCom ANIN1OFFSET 10V ANINI ANIN1 1 ANINI ANIN1
283. nter Terminal NL Notch BW Scope Acceleration 11800 000 mm s 2 Deceleration 11800 000 mmis 2 Preferences Backup amp Restore NL Anti Resonance Center 14 000 NL Anti Resonance Sharpn 0 400 NL Anti Vibration Gain 70 000 Rad 10 7 Nm 13 8 299 CDHD 300 sen Ci VOIRONIX always in motion CDHD Servo Drive User Manual Revision 5 0 Servotronix 21C Yagia Kapayim St POB 3919 Petach Tikva 49130 Israel Tel 972 3 927 3800 info gservotronix com WWW Servotronix com
284. ntroller method 1 HD Controller B Position Feedback Integral 15 360 Hz Derivative Integral Position Command Global Gain 69 416 Hz w Proportional E 53 540 z Compensation Derivative 107 795 Hz 6 31 ServoStudio HD 186 CDHD HD HD 0 HD 6 16 ServoStudio ServoStudio ServoStudio ServoStudio
285. ofile L Velocity Acceleration 53000 000 rpm s Deceleration 53000 000 rpm s Acc Dec Point to Point Move Low P Hz Copy Acc To Dec Motion Command Absolute i Incremental Actual Values Motor Current 0 011 6 12 ServoStudio FART 0 88 X Target Position Target Position Cruise Velocity Start 5000 counts 450 rpm 7 Alternating Stop Velocity 0 000 rpm Position 348989 687 Counts VarCom MOVESMOOTHLPFHZ 0 VarCom MOVEABS VarCom MOVEINC
286. om FJ ServoStudio 9 2 i 3 JH R F gt Var Pos 3 SPos 1 3 map CDHD map 93 iB assignment statement 244 CDHD 9 4 Z 4 4 lt FEE Eo lt gt lt A f f
287. onnection Serial CANopen Auto Connection Manual Connection Port Address 3 Limit Address 6 Baud rate 115200 T Z All Addresses Search amp Connect Connect Go Offline Blink Display Stop Stop Connection established IDs to connect ep amp 5 8 ServoStudio 5 4 1 ServoStudio Online Offline Hl 4 On Line Off Line 5 9 Online Offline 116 CDHD Jo oJ BG 1 ServoStudio ServoStudio ServoStudio ServoStudio ServoStudio S 5 4 2
288. ply 1 Select Current Rating 120 240 VAC Cont Peak Cont Peak Arms A ms Arms A ms 1 5 4 5 Upcoming 233 8 117 4 162 8 110 233 8 117 4 170 61 8 150 54 7 150 43 2 FRAMES 1 2 CDHD CDHD 006 2A AP 1 CD Servo Drive Rating AC and Interface Analog HD Series Controller Options Input Input Power Supply 2 Select AC and Controller Input Power Supply 120 240 2A Input Single Phase 120 L L 10 15 50 60 Hz Input Single Phase 240 L L 10 15 50 60 Hz Input Three Phase 120 240 L L VAC 10 15 50 60 Hz 400 480 VAC 4D AC Input Power Supply Input Three Phase 400 L L VAC 10 15 50 60 Hz Input Three Phase 480 L L 10 15 50 60 Hz 24 VDC input for the controller power supply 1 phase 230 VAC 180to 230 VAC L L Line to Line VBUS 325 42 x230 1 3 CDHD 12 CDHD CDHD 006 2A AP 1 CD Servo Drive Rating AC and Interface Analog HD Series Controller Options Input Input Power Supply 4 Select Interface Options amp Number of Analog Inputs Interface Options Analog Input AP Analog Voltage Pulse Train Ref RS232 1 One Analog Input 16 bit AF Analog Voltage Pulse Train Ref CANopen USB RS232 2 Two Analog Inputs 14 bit each EC EtherCAT USB RS232 PN PROFINET USB 5232 Standard configuration with one analog input Standard configuration wit
289. rCom FLTHIST VarCom FLTHISTCLR ServoStudio CAN CDHD JJ 5 17 IB E RA RE AA Homing Home Type 33 Homing on index mark moving negative P 49 4 Index Pulse TS WS Sue erus NM L L L L L m IHome Type 33 Home first index mark while moving negative Homing Acceleration Homing Speed 1 Switch Search Homing Speed 2 Index Search Offset Automatic Haming Mode 5 37 ServoStudio 2 87 RA 1 Home 4000 000 rpm s Start Stop 500 000 rpm Homing Status 100 000 rpm 0 000 Counts D Me Homing CANopen 35 Pt CANopen 2527 Device Profile Drives and Motion Control CIA BRIR EHZ 402 RA RA
290. rdersaservotronix com CDHD Servotronix customer service servotronix com 30 Servotronix Servotronix rma servotronix com RMA No Servotronix Servotronix Terms and Conditions http www servotronix com contact us html CDHD L FA PPA s ss SSS s 55 1 1 1 1 1 2 CDHD 0 Tc JI M UNE V eno 1 Bo 2 IEEE 1
291. rite to Drive Motor Over Temperature Mode Commutation Offset Degrees Copy to User Library Motor Commutation Type Verify Torque Commutation Angle Ad Torque Commutation Angle Ad Velocity Commutation Angle 10 Click for Details 5 14 ServoStudio 5 7 1 ServoStudio Rotor Inertia 0 029 Kg m 2 10 3 gt gt ServoStudio ID T
292. tional JOK 2 Connect to Host Controller x Voltage reference input Pulse and direction input 6x digital inputs 3x digital outputs Magnetic 1x analog output Contactor Connect to Additional lOs 5x digital inputs 3x digital outputs 1x fault relay Secondary feedback Motor Feedback Functional Ground Motor Brake Rela 24 VDC Power Suppl optional Motor Power Brake Output To be supplied by customer Refer to EMI Suppression in the user manual 2 11 120 240 VAC CDHD 4D5 006 36 CDHD k lt Controller I F Daisy Chain C2 MDR 36 Plug 24 28 AWG Emecan EterCAT Out 0 1 IDC EtherCAT In EtherCAT Out C8 0 C Female 1 24 VDC return 24 VDC C5 RJ45 C6 RJ45 NELTRON 4401 1088 Common output EE CE EE e or COXOC 304A 10PSAAAO03 Digital output 1 20 Digital input 2 OR OR STX PN CONr00000010 67 CAN In CAN Out Equivalent encoder 22 Equivalent encoder C5 RJ45 C6 RJ45 output A output A 1 CANH 1 CANH RXD Equivalent encoder 23 Equivalent encoder 2 CANL 2 GND output B output B 3 FGND 3 FGND RS232 Me Equivalent encoder Equivalent encoder output Z output Z4 4 4 C7 4p4c GND 25 Ground 5 RX 72 Analog input 1 26 Analog input 1 Direction input 27 Direction input 7 FGND FGND s Secondary encoder B Secondary encoder B 8 Ed 4
293. tor type Crimp Housing PN F32FSS 04V KX STX PN CONr10000004 13 4x Crimp PN SFSF 71GF P2 0 STX PN PINrSFSF71GF 00 Mating Connector type Spring PN 04JFAT SBXGF I STX PN CONr10000006 06 Machine I F C3 MDR 20 Plug 24 28 AWG 1 Secondary encoder A 11 Secondary encoder A Pulse input Pulse input 2 Secondary encoder B 12 Secondary encoder B 13 Direction input Direction input Secondary encoder Z Secondary encoder Z Secondary encoder 5V Secondary encoder ground Digital input 7 Digital input 8 6 Digital input 9 16 Digital input 10 8 Digital output 5 18 Digital output 6 DIT M AG Mating Connector 3M Solder Plug Connector PN 10120 3000PE STX PN CONr00000020 38 3M Solder Plug Junction Shell PN 10320 52F0 008 STX PN HODr00000020 00 Mating Cable STX PN CBL MDRFL 20 0x x 1 2 3 meter Feedback C4 26 Plug 24 28 AWG 1 Incremental encoder A Incremental encoder A 1 AC Input and Regeneration JST J300 18 AWG 1 B1 DC Bus Regen Bus 3 JLi AC Phase 1 4 L2 AC Phase 2 5 L1C Logic AC Phase 1 6 LC2 Logic AC Phase 2 Mating Connector Type Crimp Housing PN F32FSS 06V KX STX PN CONr00000006 91 Crimp PN SFSF 71GF P2 0 STX PN PINrSFSF71GF 00 Mating Connector Type Spring PN 06JFAT SBXGF I SSI encoder data SSI encoder data Incremental encoder B Incremental encoder B SSI enco
294. ttings for Motor parameters and Current Loop parameters determined by the motor and servo drive specifications Automatic tuning of HD Control parameters Sets the control loop parameters for the application load Contact Technical Support NO Does PE oscillate at same frequency for different speeds Perform Anti Vibe Tuning Use Anti Vibe only with systems that exhibit a clear vibration at a constant frequency Feedback 271 HD CDHD HD Position Feedback t Position Error eo Global Gain Flexibility Compensation Flexibility Compensation NLPEAFF Hz Spring Filter NLAFFLPFHZ 12 3 CDHD HD 272 integral KNLI Hz Derivative Integral KNLIV Hz Proportional KNLP Hz Derivative KNLD Hz L Pass Rise Time NLFILTT1 Damping NLFILTDAMPING Notch Filter Center NLNOTCHCENTER NLNOTCHBW z CDHD HD NL HD KNLUSERGAIN 1 000 0 001 3 000 HD KNLD 0 0 2000 Hz HD
295. ut 1 9 Direction input 27 Direction input al l 10 Secondary encoder B Secondary encoder B 10 Ground 28 Pulse input Secondary encoder A 11 Pulse input 29 Ground Secondary encoder A BEES 2 m j 14 Digital input 4 Mating Connector type Crimp Digital output 3 Housing PN 436450400 _ MEM JJ 35 Analog input 2 STX PN CONr1000004 09 per or 18 Analog input 24 Analog output i 1 ur PaO 0 Mating Connector 3M Solder Plug Connector PN 10136 3000PE STX PN CONr00000036 01 Wired STO a 3M Solder Plug Junction Shell PN 10336 52F0 008 STX PN HODr00000036 00 Mating Cable STX PN CBL MDRFL 36 0x x 1 2 3 meter STO Safe Torque Off P1 Molex 26 28 AWG S s Logic Power 24V Input P2 Molex 26 28 AWG C3 MDR 20 Plug 24 28 AWG Ground 24 VDC return 7 1 Secondary encoder A 11 Secondary encoder A Mating Connector Type Crimp Pulse input Pulse input Housing PN 436450200 STX PN CONr1000002 03 f 2 Secondary encoder B 12 Secondary encoder B 2x Crimp PN 0430300001 E Direction Direction input STX PN PINr4 E ne Secondary encoder Z Secondary encoder Z Secondary encoder 5V Secondary encoder ground Digital input 7 Digital input 8 6 Digital input 9 Digital input 10 Digital input 11 Digital output 4 Digital output 5 Digital output 6 24 VDC 19 24 VDC

Download Pdf Manuals

Related Search

CDHD cdhdr table in sap cdhd2s cdhd2-0032aec2 cdhd-0032aec2 cdhd2s-4d52aec2 cdhd2s-0062aec2 cdhde-4d52aeb cdhd2-0031dec2 cdhdr sap cdhdr object class list cdhdr cdhdf cdhd idaho cdhd-0124dec2 cdhd moscow idaho cdhdr and cdpos tables in sap cdhd grand island ne

Related Contents

  Philips 8718696411148 energy-saving lamp  Pioneer DEH-P500UB User's Manual  Sony Mobile Communications AB  Euro-Pro TO285 Toaster User Manual  Tout en un - All in one  Loi 94-665 - Ministère de la Culture et de la Communication      LG VX8575 Data Sheet  

Copyright © All rights reserved. Failed to retrieve file